Transcript
CAN-Bus S300/S700 Fieldbus Interface Communication Profile
Edition 05/2012 Translation of the original manual
Keep the manual as a product component during the life span of the product. Pass the manual to future users / owners of the product.
File s300700can_e.***
P r e vi o u s e d i t i o n s Edition 10 / 2005 11 / 2005 09 / 2006 11 / 2006 08 / 2007 01 / 2008 12 / 2008 07 / 2009 12 / 2009 06 / 2010 12 / 2010 05 / 2012
Comments First edition (starting from firmware 1.32 - CAN version 0.41) Reference and examples combined to one manual New design, SDO renamed to Object, Index improved Updated for S700 family, Termination resistor (interface) corrected, new objects Symbols, Standards Corrections, new objects, symbols acc. to ANSI Z535 Minor corrections Correction Status Machine Bit 6, Can logo, product brand Minor corrections SDOs for Safety cards new, minor corrections Object 6094, new company name Examples corrected, cover page design
SERVOSTAR is a registered trademark of Kollmorgen Corporation
Technical changes to improve the performance of the equipment may be made without prior notice ! Printed in the Federal Republic of Germany All rights reserved. No part of this work may be reproduced in any form (by photocopying microfilm or any other method) or processed, copied or distributed by electronic means, without the written permission of Kollmorgen Europe GmbH.
Kollmorgen
05/2012
Contents Page
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General 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 1.9
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About this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Target group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Hints for the online edition (PDF format) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Use as directed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Basic features implemented by CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Transmission rate and procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Response to BUSOFF communication faults. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7 7 7 8 8 8 9 9 9
Installation / Setup 2.1 2.2 2.3 2.4 2.5 2.6
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Assembly / Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Setting the station address and the transmission rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CANopen interface (X6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CAN-bus cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Guide to Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Important configuration parameters for CAN bus operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10 10 11 11 12 12
CANopen communication profile 3.1 3.2 3.3
General description of CAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Construction of the Communication Object Identifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Definition of the used data types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3.1 Basic data types. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3.1.1 Unsigned Integer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3.1.2 Signed Integer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3.2 Mixed data types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3.3 Extended data types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3.3.1 Octet String . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3.3.2 Visible String . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.4 Communication Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.4.1 Network Management Objects (NMT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.4.2 Synchronization Object (SYNC). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.4.3 Time-Stamp Object (TIME) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.4.4 Emergency Object (EMCY) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.4.4.1 Application of the Emergency Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.4.4.2 Composition of the Emergency Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.4.5 Service Data Objects (SDO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.4.5.1 Composition of the Service Data Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.4.5.2 Initiate SDO Download Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.4.5.3 Download SDO Segment Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.4.5.4 Initiate SDO Upload Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.4.5.5 Upload SDO Segment Protocol. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.4.5.6 Abort SDO Protocol. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.4.6 Process Data Object (PDO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.4.6.1 Transmission modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.4.6.2 Trigger modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.4.7 Nodeguard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.4.8 Heartbeat . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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CANopen Drive Profile 4.1 4.2
Emergency Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . General Definitions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1 General Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.1 Object 1000h: Device Type (DS301). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.2 Object 1001h: Error register (DS301) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.3 Object 1002h: Manufacturer Status Register (DS301) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.4 Object 1003h: Predefined Error Field (DS301) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.5 Object 1005h: COB-ID of the SYNC Message (DS301) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.6 Object 1006h: Communication Cycle Period (DS301). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.7 Object 1008h: Manufacturer Device Name (DS301) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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4.2.1.8 Object 1009h: Manufacturer Hardware Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.9 Object 100Ah: Manufacturer Software Version (DS301) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.10 Object 100Ch: Guard Time (DS301) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.11 Object 100Dh: Lifetime Factor (DS301) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.12 Object 1010h: Store Parameters (DS301). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.13 Object 1011h: Restore default parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.14 Object 1014h: COB-ID for Emergency Message (DS301) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.15 Object 1016h: Consumer Heartbeat Time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.16 Object 1017h: Producer Heartbeat Time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.17 Object 1018h: Identity Object (DS301) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.18 Object 1026h: OS Prompt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.19 Object 2000h: Manufacturer Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.20 Object 2014-2017h: 1st-4th Mask 1 to 4 for Transmit-PDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.21 Object 2030h: DP-RAM Variables (write only). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.22 Object 2040h: Gearing factor for electronic gearing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.23 Object 2041h: Electric gearing actual value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.24 Object 2051h: Configuration of Position Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.25 Object 2052h: Position Registers, absolute. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.26 Object 2053h: Positions Registers, relative. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.27 Object 2061h: Current limitation for velocity mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.28 Object 2080h: Motion task for profile position mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.29 Object 2081h: Active motion task display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.30 Object 2082h: Copy motion tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.31 Object 2083h: Delete Motion tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.32 Object 2090h: DP-RAM Variables (read only). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.33 Object 20A0h: Latch position 1, positive edge. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.34 Object 20A1h: Latch position 1, negative edge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.35 Object 20A2h: Latch position 2, positive edge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.36 Object 20A3h: Latch position 2, negative edge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.37 Object 20A4h: Latch Control Register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.38 Object 20B0h: Trigger Variable Digital Input 20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.39 Object 20B1h: Control Word Digital Inputs 5...20. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.40 Object 20B2h: Analog Inputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.41 Object 2100h: Write Dummy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.42 Object 2101h: Read Dummy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.43 Object 60FDh: Digital inputs (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.2.1.44 Object 6502h: Supported drive modes (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.3 PDO Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.3.1 Receive PDOs (RXPDO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.3.1.1 Objects 1400-1403h: 1st - 4th RXPDO communication parameter (DS301). . . . . . . . . . . . . . . . . . 4.3.1.2 Objects 1600-1603h: 1st - 4th RXPDO mapping parameter (DS301) . . . . . . . . . . . . . . . . . . . . . . . 4.3.1.3 Default RXPDO definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.3.2 Transmit PDOs (TXPDO). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.3.2.1 Objects 1800-1803h: 1st - 4th TXPDO communication parameter (DS301) . . . . . . . . . . . . . . . . . . 4.3.2.2 Objects 1A00-1A03h: 1st - 4th TXPDO mapping parameter (DS301). . . . . . . . . . . . . . . . . . . . . . . 4.3.2.3 Default TXPDO definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.4 Device control (dc) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.4.1 Status Machine (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.4.1.1 States of the Status Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.4.1.2 Transitions of the status machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.4.2 Object Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Object 6040h: Controlword (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.4.2.1 4.4.2.2 Object 6041h: Statusword (DS402). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.4.2.3 Object 6060h: Modes of Operation (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.4.2.4 Object 6061h: Modes of Operation Display (DS402). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.5 Factor Groups (fg) (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.5.1 General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.5.1.1 Factors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.5.1.2 Relationship between Physical and Internal Units. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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05/2012
Contents Page
4.5.2 Objects for position calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.5.2.1 Object 6089h: position notation index (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.5.2.2 Object 608Ah: position dimension index (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.5.2.3 Object 608Fh: Position encoder resolution (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.5.2.4 Object 6091h: Gear ratio (DS402). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.5.2.5 Object 6092h: Feed constant (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.5.2.6 Object 6093h: Position factor (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.5.2.7 Object 6094h: Velocity encoder factor (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.5.3 Objects for velocity calculations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.5.3.1 Object 608Bh: velocity notation index (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.5.3.2 Object 608Ch: velocity dimension index (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.5.4 Objects for acceleration calculations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.5.4.1 Object 608Dh: acceleration notation index (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.5.4.2 Object 608Eh: acceleration dimension index (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.5.4.3 Object 6097h: Acceleration factor (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.6 Profile Velocity Mode (pv) (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.6.1 General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.6.2 Objects that are defined in this section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.6.3 Objects that are defined in other sections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.6.4 Object Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.6.4.1 Object 606Ch: velocity actual value (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.6.4.2 Object 60FFh: target velocity (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.7 Profile Torque Mode (tq) (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.7.1 General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.7.2 Objects that are defined in this section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.7.3 Object description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.7.3.1 Object 6071h: Target torque (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.7.3.2 Object 6073h: Max current (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.7.3.3 Object 6077h: Torque actual value (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.8 Position Control Function (pc) (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.8.1 General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.8.2 Objects that are defined in this section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.8.3 Objects that are defined in other sections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.8.4 Object Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.8.4.1 Object 6063h: position actual value* (DS402). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.8.4.2 Object 6064h: position actual value (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.8.4.3 Object 6065h: Following error window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.8.4.4 Object 6067h: Position window (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.8.4.5 Object 6068h: Position window time (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.8.4.6 Object 60F4h: Following error actual value (DS402). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.9 Interpolated Position Mode (ip) (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.9.1 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.9.2 Objects defined in this section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.9.3 Object description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.9.3.1 Object 60C0h: Interpolation sub mode select . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.9.3.2 Object 60C1h: Interpolation data record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.9.3.3 Object 60C2h: Interpolation time period . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.9.3.4 Object 60C3h: Interpolation sync definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.9.3.5 Object 60C4h: Interpolation data configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.10 Homing Mode (hm) (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.10.1 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Objects that are defined in this section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.10.2 4.10.3 Objects that are defined in other sections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.10.4 Object Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.10.4.1 Object 607Ch: homing offset (DS402). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.10.4.2 Object 6098h: homing method (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.10.4.2.1 Description of the homing methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.10.4.3 Object 6099h: homing speeds (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.10.4.4 Object 609Ah: homing acceleration (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.10.5 Homing Mode Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CANopen for S300/S700
62 62 62 63 64 65 66 67 68 68 68 69 69 69 70 71 71 71 71 71 71 71 72 72 72 72 72 72 72 73 73 73 73 73 73 74 74 74 75 75 76 76 76 76 76 77 78 78 79 80 80 80 80 80 80 81 82 82 82 83
5
Contents
05/2012
Kollmorgen Page
4.11 Profile Position Mode (pp) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.11.1 General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.11.2 Objects that are defined in this section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.11.3 Objects that are defined in other sections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.11.4 Object description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.11.4.1 Object 607Ah: target position (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.11.4.2 Object 607Dh: Software position limit (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.11.4.3 Object 607Fh: Max profile velocity (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.11.4.4 Object 6080h: Max motor speed (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.11.4.5 Object 6081h: profile velocity (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.11.4.6 Object 6083h: profile acceleration (DS402). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.11.4.7 Object 6084h: profile deceleration (DS402). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.11.4.8 Object 6085h: Quick stop deceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.11.4.9 Object 6086h: motion profile type (DS402) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.11.4.10 Object 60C5h: Max acceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.11.5 Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5
83 83 83 83 84 84 84 85 85 85 86 86 86 87 87 88
Appendix 5.1
The Object Channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 5.1.1 Objects >3500h Manufacturer specific object channel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 5.1.2 ASCII command reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 5.1.3 Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 5.2 CANopen SDOs for Safety Expansion Card S1/S2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 5.2.1 Object 2400h: Safety card serial number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 5.2.2 Object 2401h: Safety card status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 5.2.3 Object 2402h: Safety card I/O status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 5.2.4 Object 2403h: Safety card error register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 5.2.5 Object 2404h: Safety card error stack error number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108 5.2.6 Object 2405h: Safety card error stack error time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108 5.2.7 Object 2406h: Safety card error stack error index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 5.2.8 Object 2407h: Safety card error stack error info . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 5.2.9 Object 2408h: Safety card error stack error parameter 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110 5.2.10 Object 2409h: Safety card error stack error parameter 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110 5.2.11 Object 240Ah: Safety card error stack error parameter 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 5.2.12 Object 240Bh: Safety card error stack error parameter 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 5.2.13 Object 240Ch: Actual speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 5.3 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 5.3.1 Basic testing of the connection to the S300/S700 controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 5.3.2 Example: Operating the Status Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 5.3.3 Example: Jog Mode via SDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 5.3.4 Example: Torque Mode via SDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 5.3.5 Example: Jog Mode via PDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 5.3.6 Example: Torque Mode via PDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 5.3.7 Example: Homing via SDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 5.3.8 Example: Start Motion Task from the internal memory of S300/S700 via SDO . . . . . . . . . . . . . . . . . . 119 5.3.9 Example: Using the Profile Position Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120 5.3.10 Example: ASCII Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123 5.3.11 Test for SYNC telegrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124 5.3.12 Application: Electric Gearing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125 5.3.13 Application: External Trajectory with Interpolated Position Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126 5.4 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
6
CANopen for S300/S700
Kollmorgen
General
05/2012
1
General
1.1
About this manual This manual describes the setup, range of functions and software protocol of the Kollmorgen S300/S700 servo amplifiers with the CANopen communication profile. It forms part of the complete documentation for the S300/S700 families of servo amplifiers. The installation and setup of the servo amplifier, as well as all standard functions, are described in the corresponding instructions manual. Other parts of the complete documentation for the digital servo amplifier series: Title Instructions manual S300/S700 Online-Help with Object Reference Guide in the Setup-Software
Publisher Kollmorgen Kollmorgen
Additional documentation: Publisher Title CAN Application (CAL) for Industrial Applications CiA e.V. Draft Standards 301 (from Version 4.0), 402 CiA e.V. CAN Specification Version 2.0 CiA e.V. ISO 11898 ... Controller Area Network (CAN) for high-speed communication
1.2
Target group This manual addresses personnel with the following qualifications: Transport : only by personnel with knowledge of handling electrostatically sensitive components. Unpacking: only by electrically qualified personnel. Installation : only by electrically qualified personnel. Setup : only by qualified personnel with extensive knowledge of electrical engineering and drive technology Programming: Software developers, CAN bus project-planners The qualified personnel must know and observe the following standards: IEC 60364 and IEC 60664 accident prevention regulations During operation there are deadly hazards, with the possibility of death, severe injury or material damage. The operator must ensure that the safety instructions in this manual are followed. The operator must ensure that all personnel responsible for working with the servo amplifier have read and understood the instructions manual. Training courses are available on request.
1.3
Hints for the online edition (PDF format) Bookmarks: Table of contents and index are active bookmarks. Table of contents and index in the text: The lines are active cross references. Click on the desired line and the appropriate page is accessed. Page/chapter numbers in the text: Page/chapter numbers with cross references are active. Click at the page/chapter number to reach the indicated target.
CANopen for S300/S700
7
General 1.4
Kollmorgen
05/2012
Use as directed Please observe the chapter "Use as directed” in the instructions manual for the servo amplifier. The CANopen interface serves only for the connection of the servo amplifier to a master via the CAN-bus. The servo amplifiers are components that are built into electrical apparatus or machinery, and can only be setup and operated as integral components of such apparatus or machinery. We can only guarantee the conformity of the servo amplifier with the following standards for industrial areas when the components that we specify are used, and the installation regulations are followed: EC EMC Directive 2004/108/EEC EC Low-Voltage Directive 2006/95/EEC
1.5
Symbols Symbol
Indication Indicates a hazardous situation which, if not avoided, will result in death or serious injury. Indicates a hazardous situation which, if not avoided, could result in death or serious injury. Indicates a hazardous situation which, if not avoided, could result in minor or moderate injury. Indicates situations which, if not avoided, could result in property damage. This is not a safety symbol. This symbol indicates important notes.
1.6
Abbreviations The abbreviations used in this manual are explained in the table below. Abbrev.
8
Meaning
BTB/RTO
Ready to operate (standby)
COB
Communication Object
COB-ID
Communication Object Identifier
EEPROM
Electrically erasable/programmable memory
EMC
Electromagnetic compatibility
ISO
International Standardization Organization
km
1000 m
LED
Light-emitting diode
MB
Megabyte
NSTOP
Limit switch for CCW (left) rotation
PC
Personal Computer
PDO
Process Data Object
PSTOP
Limit switch for CW (right) rotation
RAM
Volatile memory
ROD
Incremental position encoder
RXPDO
Receive PDO
SDO
Service Data Object
TXPDO
Transmit PDO
CANopen for S300/S700
Kollmorgen 1.7
05/2012
General
Basic features implemented by CANopen When working with the position controller that is integrated in S300/S700 digital servo amplifiers, the following functions are available: Setup and general functions: — — —
homing, set reference point provision of a digital setpoint for speed and torque control support of the following modes of the CANopen Profile DS402: » profile position mode » homing mode » profile torque mode » interpolated position mode » profile velocity mode
Positioning functions: — — —
execution of a motion task from the motion block memory of the servo amplifier execution of a direct motion task absolute trajectory, ip-Mode
Data transfer functions: —
— — — — —
1.8
Transmission rate and procedure — —
1.9
transmit a motion task to the motion block memory of the servo amplifier A motion task consists of the following elements: » position setpoint (absolute task) or path setpoint (relative task) » speed setpoint » acceleration time, braking time » type of motion task (absolute/relative) » number of a following task (with or without pause) read a motion task from the motion block memory of the servo amplifier read actual values read the error register read the status register read/write control parameters
bus connection and bus medium: CAN-standard ISO 11898 (CAN high-speed) transmission rate: max. 1Mbit/s possible settings for the servo amplifier: 10, 20, 50, 100, 125, 250, 333, 500 (default), 666, 800, 1000 kbit/s
Response to BUSOFF communication faults The communication fault BUSOFF is directly monitored and signaled by Level 2 (CAN controller). This message may have various causes. A few examples: — telegrams are transmitted, although there is no other CAN node connected — CAN nodes have different transmission rates — the bus cable is faulty — faulty cable termination causes reflections on the cable. A BUSOFF is only signaled by the S300/S700 if another CAN node is connected and at least one object was successfully transmitted to start off with. The BUSOFF condition is signaled by the error message F23. If the output stage is enabled for the execution of a motion task at the moment when this fault occurs, then the drive is braked to a stop, using the emergency stop ramp, and the output stage is disabled.
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Installation / Setup
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2
Installation / Setup
2.1
Assembly / Installation Only install and wire up the equipment in a de-energized condition, i.e. neither the mains supply voltage nor the 24V auxiliary voltage nor the operating voltage of any other connected equipment may be switched on. Take care that the control cabinet is safely disconnected (lockout, warning signs etc.). The individual voltages are switched on for the first time during setup. Never disconnect the electrical connections to the servo amplifier while it is live. This could destroy the electronics. Residual charges in the capacitors can still have dangerous levels several minutes after switching off the supply power. Measure the voltage in the DC-link circuit and wait until the voltage has fallen below 40V. Even when the motor is not running, power and control cables can still be live.
Assemble the servo amplifier as described in the instructions manuals for S300/S700. Observe all safety instructions in the instructions manual that belong to the servo amplifier. Follow all the notes on mounting position, ambient conditions, wiring, and fusing.
2.2
Setting the station address and the transmission rate During setup it makes sense to use the keypad on the servo amplifier's front panel to preset the station addresse and the Baud rate for communication (see setup instructions in the instructions manual). After changing the station address and/or baud rate you must turn the 24V auxiliary supply for the servo amplifier off and on again for reset. The station address (range from 1 to 127) can be set in three different ways: l
by using the keypad on the servo amplifier's front panel (see setup instructions in the instructions manual)
l
in the setup software DriveGUI.exe, on the screen page "CAN / Fieldbus”
l
by using the ASCII command sequence (nn = address): ADDR nn Þ SAVE Þ COLDSTART
The transmission rate can be set in three different ways: l
by using the keypad on the servo amplifier's front panel (see setup instructions in the instructions manual)
l
In the setup software DriveGUI.exe, on the screen page "CAN / Fieldbus”
l
Using the ASCII command sequence (bb = baud rate in kbit/s): CBAUD bb Þ SAVE Þ COLDSTART.
Coding of the transmission rate in the LED display: Coding 1 2 5 10 12 25
10
Baud Rate in kbit/s 10 20 50 100 125 250
Coding 33 50 66 80 100
Baud Rate in kbit/s 333 500 666 800 1000
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Installation / Setup
CANopen interface (X6) The interface for connection to the CAN-bus (default : 500 kBaud). The interface is at the same electrical potential as the RS232 interface. The analog setpoint inputs can still be used. We can supply special clamp-sleeve connectors, that can easily be made up for bus operation.
S300/S700
2.4
CAN-bus cable To meet ISO 11898, a bus cable with a characteristic impedance of 120 W should be used. The maximum usable cable length for reliable communication decreases with increasing transmission rate. As a guide, you can use the following values which we have measured, but they are not to be taken as assured limits: Cable data: Characteristic impedance Cable capacitance Lead loop resistance
100-120 W max. 60 nF/km 159.8 W/km
Cable length, depending on the transmission rate Transmission rate (kBaud) 1000 500 250
max. cable length (m) 10 70 115
Lower cable capacitance (max. 30 nF/km) and lower lead resistance (loop resistance, 115 W/km) make it possible to achieve greater distances. (Characteristic impedance 150 ± 5W Þ terminating resistor 150 ± 5W). For EMC reasons, the SubD connector housing must fulfill the following requirements: — metal or metalized housing — provision for cable shielding connection on the housing, large-area connection
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Guide to Setup Only professional personnel with extensive knowledge of control and drive technology are allowed to setup the servo amplifier. Check assembly / installation
Check that all the safety instructions in the instructions manual for the servo amplifier and this manual have been observed and implemented. Check the setting for the station address and baud rate.
Connect PC, start setup software
Use the setup software DriveGUI.exe to set the parameters for the servo amplifier.
Setup basic functions
Start up the basic functions of the servo amplifier and optimize the current and speed controllers. This section of the setup is described in the online help of the setup software.
Save parameters
When the parameters have been optimized, save them in the servo amplifier.
Start up communication
The altered parameters will only become effective after a software-reset (warm boot). To do this, click the Reset button in the tool bar of the setup software. It is required, that the software protocol described in Chapter 4 is implemented in the master. Adjust the transmission rate of the S300/S700 to match the master.
Test communication
Check for the bootup-message, when you switch on the drive. Do an SDO read access on index 0x1000 subindex 0 (DeviceType). See examples from page 113.
Make sure that any unintended movement of the drive cannot endanger machinery or personnel. Setup position controller
2.6
Setup the position controller, as described in the setup software online help.
Important configuration parameters for CAN bus operation The following parameters are important for CAN operation: 1. CBAUD : transmission rate for the CAN bus 2. ADDR : The ADDR command defines the fieldbus address of the amplifier. After making a change to the address, all the parameters must be saved in the EEPROM, and the amplifier must be switched off and on again. 3. AENA: This can be used to define the state of the software enable when the amplifier is switched on. The software enable provides an external control with the facility of enabling or disabling the output stage through software control. On devices that function with an analog setpoint (OPMODE=1,3), the software enable is set automatically when the amplifier is switched on, so that these instruments are immediately ready to operate (provided that the hardware enable is present). For all other instruments, the software enable is set to the value of AENA at switch-on. The variable AENA also has a function for the reset of the amplifier after a fault (via digital input 1 or through the ASCII command CLRFAULT). For errors that can be reset through software, after the error/fault has been cleared, the software enable is set to the state of AENA. In this way, the response of the amplifier for a software reset is analogous to the switch-on behavior.
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CANopen communication profile
CANopen communication profile This chapter describes the basic services and communication objects of the CANopen communication profile DS 301, which are used in the S300/S700. It is assumed that the basic operating functions of the communication profile are known, and available as reference documentation.
3.1
General description of CAN The transmission method that is used here is defined in ISO 11898 (Controller Area Network CAN for high-speed communication). The Layer-1/2 protocol (Physical Layer/Data Link Layer) that is implemented in all CAN modules provides, amongst other things, the requirements for data. Data transport or data request is made by means of a data telegram (Data Frame) with up to 8 bytes of user data, or by a data request telegram (Remote Frame). Communication objects (COBs) are labeled by an 11-bit Identifier (ID) that also determines the priority of objects. A Layer-7 protocol (Application Layer) was developed, to decouple the application from the communication. The service elements that are provided by the Application Layer make it possible to implement an application that is spread across the network. These service elements are described in the CAN Application Layer (CAL) for Industrial Applications. The communication profile CANopen and the drive profile are mounted on the CAL. The basic structure of a communication object is shown in the following diagram: S O M
COB-ID
SOM COB-ID RTR CTRL Data Segment CRC ACK EOM
CANopen for S300/S700
R T R
CTRL
Data Segment
CRC
A C K
EOM
Start of message Communication Object Identifier (11-bit) Remote Transmission Request Control Field (e.g. Data Length Code) 0 ... 8 byte (Data-COB) 0 byte (Remote-COB) Cyclic Redundancy Check Acknowledge slot End of message
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Construction of the Communication Object Identifier The following diagram shows the layout of the COB Identifier (COB-ID). The Function Code defines the interpretation and priority of the particular object. 10 9 8 7 Function-Code
6
5
4 3 2 Module-ID
1
0
Bit 0 .. 6
Module ID (servo amplifier's CAN-bus address, range 1 ... 127; is set up in the setup software or the servo amplifier, Þ p.10)
Bit 7... 10
Function Code (number of the communication object that is defined in the server)
If an invalid station number (=0 or >127) is set, then the module will be set internally to 1. The following tables show the default values for the COB Identifier after switching on the servo amplifier. The objects, which are provided with an index (Communication Parameters at Index), can have a new ID assigned after the initialization phase. The indices in brackets are optional. Predefined broadcast objects (send to all nodes): Function code (binary) 0000 0001 0010
Object NMT SYNC TIME
Resulting COB-IDs Dec. Hex. 0 0h 128 80h 256 100h
Communication parameters at index — (1005h) not supported
Predefined Peer-to-Peer objects (node sends to node):
Object EMERGENCY TPDO 1 RPDO 1 TPDO 2 RPDO 2 TPDO 3 RPDO 3 TPDO 4 RPDO 4 SDO (tx*) SDO (rx*) Nodeguard
*
3.3
Resulting COB-IDs
Function code (binary)
Dec.
Hex.
0001 0011 0100 0101 0110 0110 1000 1001 1010 1011 1100 1110
129..255 385..511 513..639 641..767 769..895 897..1023 1025..1151 1153..1279 1281..1407 1409..1535 1537..1663 1793..1919
81h..FFh 181h..1FFh 201h..27Fh 281h..2FFh 301h..37Fh 381h..3FFh 401h..47Fh 481h..4FFh 501h..57Fh 581h..5FFh 601h..67Fh 701h..77Fh
Communication parameters at index — 1800h 1400h 1801h 1401h 1802h 1402h 1803h 1403h
(100Eh)
Piority high
low
tx = direction of transmission: S300/S700 Þ Master rx = direction of transmission: Master Þ S300/S700
Definition of the used data types This chapter defines the data types that are used. Each data type can be described by bitsequences. These bit-sequences are grouped into "Octets” (bytes). The so-called "Little – Endian” format (also known as "Intel format") is used for numerical data types (see also: DS301 Application Layer "General Description of Data Types and Encoding Rules”).
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3.3.1
Basic data types
3.3.1.1
Unsigned Integer
CANopen communication profile
Data in the basic data type UNSIGNEDn define exclusively positive integers. The value range is from 0 ... 2n-1. The bit sequence b = b0 ... bn-1 defines the value UNSIGNEDn(b) = bn-1 2n-1 + ... + b1 21 + b0 20 Example: the value 266 = 10Ah is transmitted in the data type UNSIGNED16, in the form of two octets (1st octet = 0Ah, 2nd octet = 01h). Transmission syntax for the data type UNSIGNEDn Octet number UNSIGNED8 UNSIGNED16 UNSIGNED24 UNSIGNED32 UNSIGNED40 UNSIGNED48 UNSIGNED56 UNSIGNED64
3.3.1.2
1. b7..b0 b7..b0 b7..b0 b7..b0 b7..b0 b7..b0 b7..b0 b7..b0
2.
3.
4.
5.
6.
7.
8.
b15..b8 b15..b8 b15..b8 b15..b8 b15..b8 b15..b8 b15..b8
b23..b16 b23..b16 b23..b16 b23..b16 b23..b16 b23..b16
b31..b24 b31..b24 b31..b24 b31..b24 b31..b24
b39..b32 b39..b32 b39..b32 b39..b32
b47..b40 b47..b40 b47..b40
b55..b48 b55..b48
b63..b56
Signed Integer Data in the basic data type INTEGERn define both positive and negative integers. The value range is from -2n-1-1 ... 2n-1-1. The bit sequence b = b0..bn-1 defines the value INTEGERn(b) = bn-2 2n-2 + ... + b1 21 + b0 20 with bn-1 = 0 Negative numbers are represented as 2’s complement, which means: INTEGERn(b) = - INTEGERn(b) - 1 with bn-1 = 1 Example: the value -266 = FEF6h is transmitted in the data type INTEGER16, in the form of two octets (1st octet = F6h, 2nd octet = FEh). Transmission syntax for the data type INTEGERn Octet number INTEGER8 INTEGER16 INTEGER24 INTEGER32 INTEGER40 INTEGER48 INTEGER56 INTEGER64
3.3.2
1. b7..b0 b7..b0 b7..b0 b7..b0 b7..b0 b7..b0 b7..b0 b7..b0
2.
3.
4.
5.
6.
7.
8.
b15..b8 b15..b8 b15..b8 b15..b8 b15..b8 b15..b8 b15..b8
b23..b16 b23..b16 b23..b16 b23..b16 b23..b16 b23..b16
b31..b24 b31..b24 b31..b24 b31..b24 b31..b24
b39..b32 b39..b32 b39..b32 b39..b32
b47..b40 b47..b40 b47..b40
b55..b48 b55..b48
b63..b56
Mixed data types Mixed data types combine basic data types (INTEGERn, UNSIGNEDn, REAL). Two types of mixed data are distinguished: l
STRUCT This data type is composed of elements with different data types.
l
ARRAY This data type is composed of elements of the same data type.
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Extended data types Extended data types are derived from basic data types and mixed data types. The types of extended data that are supported are defined below.
3.3.3.1
Octet String The data type OCTET_STRING is defined with the data type ARRAY. Length is the length of the octet string. ARRAY[length] OF UNSIGNED8
3.3.3.2
OCTET_STRINGlength
Visible String The data type VISIBLE_STRING can be defined with the data type UNSIGNED8 or the data type ARRAY. Permissible values are 00h and the range from 20h to 7Eh. The data are interpreted as 7 bit ASCII code (as per ISO 646-1973(E)). Length is the length of the visible string.
3.4
UNSIGNED8
VISIBLE_CHAR
ARRAY[length] OF VISIBLE_CHAR
VISIBLE_STRINGlength
Communication Objects Communication objects are described with the help of service elements and protocols. Two basic types of service elements are distinguished: l
Unconfirmed services PDO
l
Confirmed services SDO
All services require faultless operation of the Data Link and Physical Layer. S300/S700 supports communication objects that are described in detail in the following sections:
16
l
Network Management Objects (NMT)
l
Synchronization Object (SYNC)
l
Emergency Object (EMCY)
l
Process Data Object (PDO)
l
Service Data Object (SDO)
l
Nodeguard
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Network Management Objects (NMT) The NMT telegram looks like this:
NMT Master
NMT Slave(s) Start Remote Node
COB-ID = 0 request
cs NODE ID Data byte 0 1
indication indication indication
cs = command specifier
The drive supports the following network management functions: cs = 129, reset node:
causes a cold-start of the drive. This deletes all parameters saved in the RAM and loads the values stored in the EEPROM.
cs = 130, reset communication node: causes a stop of PDO-communication, gives a new bootup-message cs = 1, start remote node: starts the CAN node. I.e. the PDOs of the drive are enabled for operation. From this moment, transmit-PDOs will be transmitted under eventcontrol, and cyclical process data operation can commence. cs = 2, stop remote node: stops the CAN node, I.e. the drive no longer responds to any received PDOs or transmits any PDOs.
3.4.2
Synchronization Object (SYNC) The SYNC object usually is used as a periodic Broadcast Object and provides the basic clock for the bus. SYNC has a high priority, to ensure constant time intervals. The usage of this protocol is explained in the appendix from page 113. You can use the SYNC object to start motion task of several axes simultaneously for example.
3.4.3
Time-Stamp Object (TIME) This communication object is not supported by S300/S700.
3.4.4
Emergency Object (EMCY) EMCY is event-triggered and generated by an internal fault/error situation. This object is transmitted afresh for every error. Since the error codes are device-dependent, they are described in the Chapter CANopen Drive Profile (Þ p. 25). The last 8 Emergency error codes can be read via object 1003.
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Application of the Emergency Object The reaction in the event of an error or fault depends on the error class and is therefore variable. For this reason, the reaction is described with the aid of an error status machine. The error conditions error- free and error occurred are distinguished. The following transitions are defined: 0.
After initialization, the error-free status is taken up if no errors are detected. No error signal is generated in this condition.
1.
The S300/S700 detects an internal error and indicates this in the first three bytes of the emergency telegram (error code in Bytes 0,1 and error register in Byte 2). Since the S300/S700 can distinguish between different types of error, Byte 3 of the manufacturer-specific error field is used to indicate the error category.
2.
One error has been reset, but not all. The EMCY telegram contains error code 0000h and the error register indicates the remaining errors that are present. The manufacture-specific area is set to zero.
3.
A new error has occurred. The S300/S700 remains in the error status and transmits an EMCY Object with the corresponding error code. The new error code is entered in Bytes 0 and 1.
4.
All errors have been reset. The EMCY telegram contains the error code 0000h, the error register does not indicate any other errors. The manufacture-specific area is set to zero.
0
error free
1
4
2
3
error occurred
3.4.4.2
Composition of the Emergency Object The Emergency Object is composed of 8 bytes, divided as follows: Byte Content
0 1 Emergency error code (Þ p.25)
2 Error register (object 1001h)
3 Category
4
5 6 Reserved
7
If an Emergency Object is generated, the error condition is then signaled to the status machine (error free / error occurred) by the generation of a second Emergency Object. Only the first four bytes are relevant in this case (Emergency Error code , Error register, Category). Byte 0/1 contains the Error Reset code (0000h) and Byte 2 indicates if a possible further error is present. If the error register contains 00h, the error status is error-free. Byte 3 contains the category. The interpretations of the error numbers (error code) and the error categories are described in the section Emergency Messages (Þ p.25). The error register is defined through object 1001h Error register.
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Service Data Objects (SDO) SDOs are used to implement access to the Object Dictionary. The SDOs are required for parametrerization and for status polling. Access to an individual object is made with a multiplexer via the Index and Subindex of the Object Dictionary. The following communication protocols are supported by S300/S700: l
Initiate SDO Download Protocol
l
Download SDO Segment Protocol
l
Initiate SDO Upload Protocol
l
Upload SDO Segment Protocol
l
Abort SDO Transfer Protocol
The definitions of the individual communication services and protocols can be found in DS301. Examples of the usage of SDOs can be found in the appendix from page 113. Since an SDO is a confirmed service, the system must always wait for the SDO response telegram before it is allowed to transmit a new telegram.
3.4.5.1
Composition of the Service Data Object An SDO consists of the following components: Byte Content
1.
1 rw
2
3
4 Subindex
Index
5
6
7
8
Data
The control byte (Byte 1): The control byte determines whether the SDO should write or read the content of the entry in the Object Dictionary. A description of the complete Object Dictionary for S300/S700 can be found from p. 99. Data exchange with the S300/S700 is governed by the CMS multiplexed domain protocols standard, as described in the CAN standard DS 202. To read data, the control byte must be written in the manner shown below: Bit Content *
ccs X
7 Þ Þ
6 ccs*=2
5
4 X
3 X
2 X
1 X
0 X
client command specifier (ccs = 2 Þ initiate upload request) free data
So a value of 0100 0000 (binary) or 40h has to be transmitted in the control byte. The servo amplifier sends back a corresponding response byte: Bit Content *
7
scs n
Þ Þ
X
Þ
6 scs*=2
5
4 X
3
2 n
1 e
0 s
server command specifier (scs = 2 Þ initiate upload response) only valid for e = s = 1 if this is so, n contains the number of bytes that do not contain data free data
If reading is successfull, the response byte always has set the bits 0 and 1 (e = s = 1). Encoded byte length in the SDO response: 0x43 - 4 bytes 0x47 - 3 bytes 0x4B - 2 bytes 0x4F - 1 byte. If an error occurs, scs is set to 4, the response byte is 0x80 and the error information is in the four byte data field. The decoding of the error can be found on p. 21.
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To write data, the control byte must be written in the manner shown below: Client request Þ
7
6 5 ccs=1
Initiate Domain Download Byte 1 2 3 4 3 2 1 0 X n e s m
Server 4
5
6
7
8 indication Þ
d
ÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞÞ n,e and s are defined like in the reading case, m: index + sub-index, d: data field with 4 bytes The data length of an object can be taken from the object dictionary in the appendix. The control byte should be: 0x23 for a 4-byte access 0x27 for a 3-byte access 0x2B for a 2-byte access 0x2F for a 1-byte access Ü confirm
3.4.5.2
ÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜÜ Byte 1 2 3 4 5 6 7 8 7 6 5 4 3 2 1 0 scs=3 X m reserved
Ü response
2.
Index (Bytes 2 and 3): The Index is the main entry in the Object Dictionary, and divides the parameters into groups. (Example: Index 1018h is the Identity Object). As for all CAN data, the Index is stored with the bytes in reverse order. E.g. Index 6040h means Byte 2 = 40h, Byte 3 = 60h)
3.
Subindex (Byte 4): The Subindex divides the parameters within a group of parameters.
4.
Data field (Bytes 5 ... 8): These components are used for the exchange of user data. In read-request telegrams to the S300/S700 they are set to 0. They have no content in a write confirmation from the S300/S700 if the transfer was successful, but if the write operation was faulty they contain an error code (Þ 3.4.5.6).
Initiate SDO Download Protocol The Initiate SDO Download protocol is used for write access to objects with up to 4 bytes of user data (expedited transfer) or to initiate a segment transfer (normal transfer). Expedited transfer is also used for objects that only have the character of a command (e.g. ASCII: SAVE) and thus do not require any further user data.
3.4.5.3
Download SDO Segment Protocol The Download SDO Segment protocol is used for write access to objects with more than 4 bytes of user data (normal transfer). This service is not supported by S300/S700 at present, since there are no objects that make use of more than 4 bytes of user data.
3.4.5.4
Initiate SDO Upload Protocol The SDO Upload protocol is used for read access to objects with up to 4 bytes of user data (expedited transfer) or to initiate a segment transfer (normal transfer).
3.4.5.5
Upload SDO Segment Protocol The Upload SDO Segment protocol is used for read access to objects with more than 4 bytes of user data (normal transfer). This service is not supported by S300/S700 at present, since there are no objects that make use of more than 4 bytes of user data.
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Abort SDO Protocol The Abort SDO protocol breaks off SDO transmission, and indicates the error that caused the break in transmission through an abort code (error code). The error code is in the format of an UNSIGNED32 value. The following table shows possible reasons for an abort SDO. Abort Code 0601 0000h 0601 0001h 0601 0002h 0602 0000h 0604 0041h 0604 0042h 0604 0043h 0607 0010h 0609 0011h 0609 0030h 0609 0031h 0609 0032h 0800 0020h 0800 0022h FF03 0000h
Description Unsupported access to this object Attempted read access to a write-only object Attempted write access to a read-only object Object does not exist in Object Dictionary Object cannot be mapped to a PDO Size and number of mapped objects exceed permissible PDO length General parameter incompatibility Data type incompatible, length of service parameter is incompatible Subindex does not exist Outside value range for the parameter (only for write access) Parameter value too high Parameter value too low Data cannot be transmitted or saved Data cannot be transmitted or saved because of device status OS cmd buffer full
Abort Codes not listed above are reserved.
3.4.6
Process Data Object (PDO) PDOs are used for real-time data communication. PDOs can, for instance, be used to set up controllers similar to analog drives. Instead of +/-10VDC setpoints and ROD feedback, digital speed setpoints and position feedback are attained via PDOs in this case. Transmission is carried out unconfirmed without a protocol "overhead”. This communication object uses the unconfirmed communication service. PDOs are defined via the Object Dictionary for the S300/S700. Mapping is made during the configuration phase, with the help of SDOs. Length is defined with the mapped objects. The definition of the PDO service and protocol can be found in DS301. Examples of the usage of PDOs can be found in the appendix from page 113. Basically, two types of PDOs can be distinguished, depending on the direction of transmission: l
Transmit-PDOs (TPDOs) (S300/S700 Þ Master) The TPDOs transmit data from S300/S700 to control system (e.g actual value objects, instrument status).
l
Receive-PDOs (RPDOs) (Master Þ S300/S700) The RPDOs receive data from control system to S300/S700 (e.g setpoints).
S300/S700 supports four independent PDO channels for each direction of transmission. The channels are labeled by the channel numbers 1 to 4. There are two parameter sets each for the configuration of each of the four possible PDOs, and they can be set up through the corresponding SDOs: 1.
Mapping parameters, to determine which data are available (mapped) in the selected PDO and to define, which data are contained (see pages 51 and 53 ).
2.
Communication parameters, that define whether the PDOs operate in synchronized mode, or event-driven (objects 1400h to 1403h, 1800h to 1803h).
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Transmission modes The following PDO transmission modes are distinguished: l
Synchronous transmission
l
Asynchronous transmission
The pre-defined SYNC Object is transmitted periodically (bus clock), to synchronize the drives. Synchronous PDOs are transmitted within a pre-defined time window immediately following the SYNC Object. The transmission modes are set up with the aid of the PDO communication parameters. SYNC Object
SYNC Object
Synchronous PDOs
3.4.6.2
Asynchronous PDOs
SYNC Object
Synchronous Window Length
time
Trigger modes Three different trigger modes are distinguished:
22
l
Event driven The transmission of the telegrams is triggered by an object-specific event.
l
Time driven If event driven signals put a high strain on the bus, you can determine the period of time after which a PDO can be transmitted again via the inhibit time (Communication parameter, sub-index 03h)
l
Event Timer driven If a PDO shall be sent within a defined time interval, even if it doesn’t change, this interval can be defined by a special SDO.
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CANopen communication profile
05/2012
Nodeguard The Node Guarding protocol is a functional monitoring for the drive. It requires that the drive is accessed at regular intervals by the CANopen master. The maximum time interval that is permitted between two Nodeguard telegrams is given by the product of the Guard Time (Object 100Ch, Þ p.30) and the Life Time Factor (Object 100Dh, Þ p.31). If one of these two values is 0, then the response monitoring is de-activated. If the drive is not accessed within the time defined by objects 100Ch and 100Dh, then Warning N04 (response monitoring) appears on the drive, the drive is braked to a stop with the Quickstop ramp, and any other movement is prevented. (parameter DECSTOP, object 6085 sub0). The time sequence for node guarding is as shown below:
NMT Master
NMT Slave S300/S700
SPS / PLC COB-ID = ... request
remote transmit request
Guard Time
0
1 7 t
6..0 s
response
confirm
request
indication
remote transmit request
0
indication
1 7 t
6..0 s
confirm
response
t = toggle Bit, changes its status with every slave telegram s = status of the NMT slave status machine Node guarding is carried out by the Master through RTR telegrams with the COB-ID 700h + slave node address.
CANopen for S300/S700
23
CANopen communication profile 3.4.8
Kollmorgen
05/2012
Heartbeat The Heartbeat Protocol defines an Error Control Service without need for remote frames. A Heartbeat Producer transmits a Heartbeat message cyclically. One or more Heartbeat Consumer receive the indication. The relationship between producer and consumer is configurable via Object 1016h / 1017h. The Heartbeat Consumer guards the reception of the Heartbeat within the Heartbeat Consumer Time. If the Heartbeat is not received within the Heartbeat Consumer Time a Heartbeat Event will be generated. Heartbeat protocol:
Heartbeat Producer
Write Heartbeat COB-ID = 1792+Node-ID
0
1 7 r
request
6 ... 0 s
Heartbeat Consumer indication indication indication
Heartbeat Producer Time 0 request
1 7 r
6 ... 0 s
Heartbeat Consumer Time indication indication indication
r: reserved (always 0) s: state of the Heartbeat Producer 0: BOOTUP 4: STOPPED 5: OPERATIONAL 127: PRE-OPERATIONAL
Heartbeat Consumer Time
Heartbeat Event
24
CANopen for S300/S700
Kollmorgen
05/2012
4
CANopen Drive Profile
4.1
Emergency Messages
CANopen Drive Profile
Emergency messages are triggered by internal equipment errors. They have a high ID-priority, to ensure quick access to the bus. An Emergency message contains an error field with pre-defined error/fault numbers (2 bytes), an error register (1byte), the error category (1 byte) and additional information (Þ chapter 3). The higher-value byte of the error number describes the error category, and the lower-value byte provides the error number in this category. Error numbers from 0000h to 7FFFh are defined in the communication or drive profile. Error numbers from FF00h to FFFFh have manufacturer-specific definitions. The error category can be used to classify the significance of any errors that occur. The following error categories are defined: 1: Errors that can only be cleared by a reset (COLDSTART command, or Bit 7 in the control word Þ p.57). If you reset the amplifier in case of a cat.1 error, the servo amplifier will be restarted by a coldstart. 2: Errors that can be cleared by Bit 7 in the control word (Þ p.57). 3: Error messages that may appear when a PDO is processed. 4: Faults, that cannot be cleared by the user. 5: Operating errors/warnings. The cat. 1 and 2 errors are indicated by blinking of the LED display in the front panel. (Fxx, xx = error number). The following table describes the various Error Codes: Error Code 0000h 1000h 1080h 2330h 2380h 3100h 3110h 3120h 3130h 4110h 4210h 4310h 5111h 5380h 5400h 5420h 5441h 5530h 6320h 7111h 7122h 7181h 7303h 7305h 8182h 8331h 8480h 8611h 8681h FF01h FF02h FF04h FF05h FF06h FF07h FF08h FF11h
CANopen for S300/S700
Category — — 5 2 1 2 2 2 2 2 1 1 1 1 1 1 1 1 3 1 1 5 1 1 1 2 2 2 5 1 3 1 1 2 2 2 2
Description Error reset or no error (mandatory) Generic error (mandatory) No BTB/RTO (status not ready for operation) Error in ground connection (F22) Error in motor connection (phase fault) (F12) No mains/line-BTB (F16) Overvoltage in DC-bus/DC-link (F02) Undervoltage in DC-bus/DC-link (F05) Supply line phase missing (with PMODE = 2) (F19) Ambient temperature too high (F13) Heat sink temperature too high (F01) Motor temperature too high (F06) Fault in ±15V auxiliary voltage (F07) Fault in A/D converter (F17) Fault in output stage (F14) Ballast (chopper) (F18) Operating error for AS-option (F27) Serial EEPROM (F09) Parameter error Braking error/fault (F11) Commutation error (F25) Could not enable S300/S700 Feedback device error (F04) Signal failure digital encoder input (F10) CAN bus off (F23) I2t (torque fault, F15) Overspeed (F08) Lag/following error (n03/F03) Invalid motion task number Serious exception error (F32) Error in PDO elements Slot error (F20) Handling error (F21) Warning display as error (F24) Homing error (drove onto HW limit switch) (F26) Sercos error (F29) Emergency timeout failure(F30)
25
CANopen Drive Profile 4.2
Kollmorgen
05/2012
General Definitions This chapter describes objects with a general validity (e.g. Object 1000h Device Type). The next section explains the free configuration of Process Data Objects ("free mapping”).
4.2.1
General Objects
4.2.1.1
Object 1000h: Device Type (DS301) This object describes the device type (servo drive) and device functionality (DS402 drive profile). Definition: MSB
LSB Additional information Mode bits 24 23
31
Device profile number 402d=192h
Type 16 15
0
The device profile number is DS402, the type is 2 for servo amplifiers, the mode bits 28 to 31 are manufacturer specific and may be changed from its actual value of 0. A read access delivers 0x00002192 at the moment.
4.2.1.2
Index Name Object code Data type Category
1000h device type VAR UNSIGNED32 mandatory
Access PDO mapping Value range Default value
ro not possible UNSIGNED32 no
Object 1001h: Error register (DS301) This object is an error register for the device. The device can map internal errors into this byte. It is a part of an Emergency object. Index Name Object code Data type Category
1001h Error register VAR UNSIGNED8 mandatory
Access PDO mapping Value range Default value
ro not possible UNSIGNED8 no
Error reasons to be signaled:If a bit is set to 1 the specified error has occurred. The generic error is signaled at any error situation. Bit 0 1 2 3
26
Description generic error current voltage temperature
Bit 4 5 6 7
Description communication error (overrun, error state) device profile specific reserved (always 0) manufacturer specific
CANopen for S300/S700
Kollmorgen 4.2.1.3
05/2012
CANopen Drive Profile
Object 1002h: Manufacturer Status Register (DS301) The manufacturer status register contains important drive informations. Index Name Object code Data type Category
1002h Manufacturer Status Register VAR UNSIGNED32 optional
Access PDO mapping Value range Default value
ro possible UNSIGNED32 no
The following table shows the bit assignment for the status register: Bit 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
Description 1 = Movement (positioning, homing) active 1 = reference point set 1 = reference switch high (home-position) 1 = In Position 1 = Position latch at input 2 (positive transition) reserved reserved reserved reserved reserved 1 = Initialization phase finished reserved 1 = Motor stand still message (threshold VEL0) 1 = Safety relay selected (AS-option) 1 = Power stage enabled 1 = Error state 1 = Homing move active 1 = Jog move active 1 = position latch at input 2 (negative transition) 1 = Emergency stop active 1 = Position latch at input 1 (positive transition) 1 = Position latch at input 1 (negative transition) 1 = Feed forward off 1 = Homing move finished 1 = one of the actual errors will lead to a coldstart of the drive, if resetted 1 = digital input 1 set 1 = digital input 2 set 1 = digital input 3 set 1 = digital input 4 set 1 = digital input hardware enable set reserved reserved
CANopen for S300/S700
27
CANopen Drive Profile 4.2.1.4
Kollmorgen
05/2012
Object 1003h: Predefined Error Field (DS301) The object 1003h provides an error history with a maximum size of 8 entries. Subindex 0 contains the number of errors which have occured since the last reset of the error history, either by startup of the drive or resetting the error history by writing 0 to subindex 0. A new Emergency-message is written into subindex 1 shifting the old entries one subindex higher. The old content of subindex 8 is lost. The UNSIGNED32-information written to the subindizes is defined in the field Error Code in the description of the Emergency Messages (Þ p.25).
28
Index Name Object code Data type Category
1003h pre-defined Error Field ARRAY UNSIGNED32 optional
Subindex Description Data type Category Access PDO mapping Value range Default value
0 Number of entries UNSIGNED8 mandatory rw not possible 0 ... 8 0
Subindex Description Category Access PDO mapping Value range Default value
1...8 Standard error field (Þ p.25) optional ro not possible UNSIGNED32 no
CANopen for S300/S700
Kollmorgen 4.2.1.5
05/2012
CANopen Drive Profile
Object 1005h: COB-ID of the SYNC Message (DS301) This object defines the COB-Id of the synchronisation object (SYNC). Index Name Object code Data type Category
1005h COB-ID for the SYNC message VAR UNSIGNED32 conditional
Access PDO mapping Value range Default value
rw not possible UNSIGNED32 no
Bit coded information: Bit 31 (MSB) 30 29 28 ... 11 10 ... 0 (LSB)
Value X 0 1 0 1 X 0 X
Meaning — Device not generate SYNC message Device generates SYNC message 11 Bit ID (CAN 2.0A) 29 Bit ID (CAN 2.0B) if Bit 29=1 => Bit 11 ... 28 of 29-bit SYNC COB-ID if Bit 29=0 Bit 0 ... 10 of SYNC COB-ID
The device does not support the generation of SYNC-messages and only the 11-bit IDs. So the bits 11 to 30 are always 0.
4.2.1.6
Object 1006h: Communication Cycle Period (DS301) This object can be used to define the period (in µs) for the transmission of the SYNC telegram.
4.2.1.7
Index Name Object code Data type Category
1006h Period of the communication cycle VAR UNSIGNED32 O
Access PDO mapping Value range Default value
rw not possible UNSIGNED32 00h
Object 1008h: Manufacturer Device Name (DS301) The device name consists of four ASCII characters in the form S3xx, whereby xx stands for the power stage current. Index Name Object code Data type Category
1008h Manufacturer Device Name VAR Visible String Optional
Access PDO mapping Value range Default value
const not possible S301 - S3xx no
CANopen for S300/S700
29
CANopen Drive Profile 4.2.1.8
Kollmorgen
05/2012
Object 1009h: Manufacturer Hardware Version The object gives the layout version of the drive.
4.2.1.9
Index Name Object code Data type Category
1009h manufacturer hardware version VAR Visible String Optional
Access PDO mapping Value range Default value
const not possible no
Object 100Ah: Manufacturer Software Version (DS301) The object contains the manufacturer software version (here: the CANopen-part of the drive firmware).
4.2.1.10
Index Name Object code Data type Category
100Ah Manufacturer Software Version VAR Visible String Optional
Access PDO mapping Value range Default value
const not possible 0.01 ... 9.99 no
Object 100Ch: Guard Time (DS301) The arithmetical product of the Objects 100Ch Guard Time and 100Dh Lifetime Factor is the response monitoring time. The Guard Time is given in milliseconds. The response monitoring is activated with the first Nodeguard object (Þ p. 23). If the value of the object Guard Time is set to zero, then the response monitoring is inactive. Index Name Object code Data type Category Access PDO mapping Value range Default value
30
100Ch Guard Time VAR UNSIGNED16 conditional; mandatory, if heartbeat not supported rw not possible UNSIGNED16 0
CANopen for S300/S700
Kollmorgen 4.2.1.11
05/2012
CANopen Drive Profile
Object 100Dh: Lifetime Factor (DS301) The product of Guard Time and Life Time Factor gives the life time for the nodeguarding protocol. If it’s 0, the protocol is not used.
4.2.1.12
Index Name Object code Data type Category
100Dh Lifetime Factor VAR UNSIGNED8 conditional; (mandatory, if heartbeat not supported)
Access PDO mapping Value range Default value
rw not possible UNSIGNED8 0
Object 1010h: Store Parameters (DS301) This object supports the saving of parameters to a flash EEProm. Only the subindex 1 for saving of all parameters, which can also be saved in the parameter files via the GUI, is supported. Index Name Object code Data type Category
1010h store parameters ARRAY UNSIGNED32 optional
Subindex Name Object code Data type Category Access PDO Mapping Value range Default value
0 number of entries VAR UNSIGNED8 mandatory ro not possible 1 1
Subindex Name Object code Data type Category Access PDO Mapping Value range Default value
1 save all parameters VAR UNSIGNED32 mandatory rw not possible UNSIGNED32 1
Data definition: Bit number 31 ... 2 1 0
Value 0 0 1 0 1
Meaning reserved (=0) Device does not save parameters autonomously Device does save parameters autonomously Device does not save parameters on command Device does not save parameters on command
By read access to sub-index 1 the drive provides information about its storage functionality. This drive provides a constant value of 1 by read access, i.e. all parameters can be saved by writing to Object 1010 sub 1. In general the drive doesn’t save parameters autonomously with the exception of e.g. the special treatment of the homing of multiturn absolute encoders. Storing of parameters is only done if a special signature ("save") is written to subindex 1. "save" is equivalent to the unsigned32 - number 65766173h.
CANopen for S300/S700
31
CANopen Drive Profile 4.2.1.13
Kollmorgen
05/2012
Object 1011h: Restore default parameters With this object the default values of parameters according to the communication or device profile are restored. The S300/S700 gives the possibility to restore all default values. Index Name Object code Data type Category
1011h restore default parameters ARRAY UNSIGNED32 optional
Subindex Name Data type Category Access PDO Mapping Default value
0 number of entries UNSIGNED8 mandatory ro not possible 1
Subindex Name Category Access PDO Mapping Value range Default value
1 restore all default parameters mandatory rw not possible UNSIGNED32 (Figure 57) 1 (device restores parameter)
Restoring of parameters will only be done, if a special signature ("load”) is written to subindex 1. "load” has to be transmitted as unsigned32 - number 64616F6Ch.
4.2.1.14
Object 1014h: COB-ID for Emergency Message (DS301) This object defines the COB-ID of the Emergency message. Index Name Object code Data type Category Access PDO mapping Value range Default value
32
1014h COB-ID emergency message VAR UNSIGNED32 conditional; mandatory, if Emergency is supported rw not possible UNSIGNED32 80h + Node - ID
CANopen for S300/S700
Kollmorgen 4.2.1.15
CANopen Drive Profile
05/2012
Object 1016h: Consumer Heartbeat Time The consumer heartbeat time defines the expected heartbeat cycle time and has to be higher than the corresponding producer heartbeat time configured on the device producing this heartbeat. Monitoring starts after the reception of the first heartbeat. If the consumer heartbeat time is 0 the corresponding entry is not used. The time is defined in milliseconds. Index Name Object code Data type Category
1016h consumer heartbeat time ARRAY UNSIGNED32 optional
Subindex Description Data type Category Access PDO Mapping Value range Default value
0 number of entries UNSIGNED8 mandatory ro not possible 1 1
Subindex Description Category Access PDO Mapping Value range Default value
1 Consumer heartbeat time mandatory rw not possible unsigned 32 no
Definition of the entry value of sub-index 1 MSB reserved (value: 00) Value Encoded as 31 24 23 Bit
4.2.1.16
LSB Node-ID UNSIGNED8
heartbeat time UNSIGNED16 16
15
0
Object 1017h: Producer Heartbeat Time The producer heartbeat time defines the cycle time of the heartbeat in ms. If it’s 0, it is not used. Index Name Object code Data type Category Access PDO mapping Value range Default value
CANopen for S300/S700
1017h Producer heartbeat time VAR UNSIGNED16 conditional; mandatory, if guarding is not supported rw not possible UNSIGNED16 0
33
CANopen Drive Profile 4.2.1.17
Kollmorgen
05/2012
Object 1018h: Identity Object (DS301) The Identity Object contains general device information. Index Name Object code Data type Category
1018h Identity Object RECORD Identity mandatory
Subindex Description Data type Category Access PDO mapping Value range Default value
0 Number of entries UNSIGNED8 mandatory ro not possible 1 ... 4 4
Subindex 1 is a unique number for a device manufacturer. Subindex Description Category Access PDO mapping Value range Default value
1 Vendor ID mandatory ro not possible UNSIGNED32 0x6AH (Kollmorgen)
Subindex 2 contains the general device number (300) plus an information about dc-bus-voltage and current class. Subindex Description Category Access PDO mapping Value range Default value
2 Product Code optional ro not possible 301 ... 346 no
Subindex 3 consists of two revision numbers: - the major revision number in the upper word containing the CAN-version - the minor revision number containing the general firmware version E.g. a value of 0x0022 0079 means CAN-version 0.34 and firmware version 1.21. Subindex Description Category Access PDO mapping Value range Default value
3 Revision Number optional ro not possible UNSIGNED32 no
Subindex 4 gives the serial number of the drive. Subindex Description Category Access PDO mapping Value range Default value
34
4 Serial Number optional ro not possible UNSIGNED32 no
CANopen for S300/S700
Kollmorgen 4.2.1.18
05/2012
CANopen Drive Profile
Object 1026h: OS Prompt The OS prompt is used to build up an ASCII - communication channel to the drive. Index Name Object code Data type Category
1026h OS Prompt ARRAY UNSIGNED8 optional
Subindex Description Data type Category Access PDO mapping Value range Default value
0 Number of entries UNSIGNED8 mandatory ro not possible 2 2
Subindex 1 is used to send one character to the drive. Subindex Description Category Access PDO mapping Value range Default value
1 StdIn mandatory ro possible UNSIGNED8 —
Subindex 2 is used to receive one character from the drive. Subindex Description Category Access PDO mapping Value range Default value
CANopen for S300/S700
2 StdOut mandatory w possible UNSIGNED8 0
35
CANopen Drive Profile 4.2.1.19
05/2012
Kollmorgen
Object 2000h: Manufacturer Warnings This object provides information about drive internal warnings. Index Name Object code Data type Category
2000h Manufacturer warnings VAR UNSIGNED32 optional
Access PDO mapping Value range Default value
ro possible UNSIGND32 —
Bit coded warnings: bit number 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 ... 30 31
meaning n01 - I2t - threshold exhausted n02 -regen power reached preset regen power limit n03* - contouring error exceeded preset limit n04* - nodeguarding monitoring has been activated n05 -Mains supply phase missing n06* - position fall below software limit switch 1 n07* - position exceeded software limit switch 2 n08 -faulty motion task n09 -no reference point at start of motion task n10* -PSTOP limit-switch activated n11* -NSTOP limit-switch activated n12 -only for ENDAT or HIPERFACE®: discrepancy between motor number saved in the encoder and the amplifier, motor default values loaded n13* -expansion card not operating correctly n14 -SinCos commutation (wake & shake) not completed, will be canceled automatically when amplifier is enabled and wake & shake carried out n15 -table error fault according to speed/current table (with INXMODE 35) n16 -Summarized warning for n17 to n31 n17 -CAN-Sync is not logged in (with SYNCSRC = 3) n18 -Multiturn overflow: Max. number of turns exceeded n19- n31: reserved n32 -firmware is an unreleased beta version
* = these warning messages result in a controlled shut-down of the drive (braking by emergency stop ramp)
36
CANopen for S300/S700
Kollmorgen 4.2.1.20
05/2012
CANopen Drive Profile
Object 2014-2017h: 1st-4th Mask 1 to 4 for Transmit-PDO In order to reduce the bus loading with event-triggered PDOs, masking can be used to switch off the monitoring for individual bits in the PDO. In this way it can be arranged, for instance, that actual position values are only signaled once per turn. This Object masks the PDO-channels 1 to 4. If only two bytes have been defined in a PDO, then it masks just two bytes, although 4 bytes of mask information have been transmitted. An activated bit in the mask means that monitoring is active for the corresponding bit in the PDO.
4.2.1.21
Index Name Object code Number of elements Data type
2014h to 2017h tx_mask 1 to 4 ARRAY 2 UNSIGNED32
Sub-index Description Mode Access PDO mapping Unit Value range EEPROM Default value
1 tx_mask1 to 4_low independent rw not possible — UNSIGNED32 no FFFFFFFFh
Sub-index Description Mode Access PDO mapping Unit Value range EEPROM Default value
2 tx_mask1 to 4_high independent rw not possible — UNSIGNED32 no FFFFFFFFh
Object 2030h: DP-RAM Variables (write only) Index Name Object code Data type Category
2030h DP-Ram Variables, write only (PDO) ARRAY INTEGER32 optional
Subindex Description Data type Category Access PDO mapping Value range Default value
0 Number of entries UNSIGNED8 optional ro not possible 9 9
Subindex Description Category Access PDO mapping Value range Default value
1...8 DP-Ram Variables 9...16 optional rww possible INTEGER32 0
CANopen for S300/S700
37
CANopen Drive Profile 4.2.1.22
Kollmorgen
05/2012
Object 2040h: Gearing factor for electronic gearing This object defines the gearing factor for the electronic gearing between a master and a slave drive, which are connected via ROD. These objects are relevant only for the OPMODE 4 resp. the CANopen-mode 0x84. Index Name Object code Category
2040h Electronic gearing factor RECORD optional
Subindex Description Data type Category Access PDO mapping Value range Default value
0 Number of entries UNSIGNED8 optional ro not possible 2 2
Subindex 1 is related to the master input signal depending on selected feedback and GEARMODE. Subindex Description Category Access PDO mapping Value range Default value
1 Gearing Input optional rw possible INTEGER32 1024
Subindex 2 gives the movement of the slave in dependancy of the master pulses. Subindex Description Category Access PDO mapping Value range Default value
38
2 Gearing Output optional rw possible UNSIGN32ED 1
CANopen for S300/S700
Kollmorgen 4.2.1.23
05/2012
CANopen Drive Profile
Object 2041h: Electric gearing actual value This object is used to display the input master speed, the internal slave setpoint speed as a control variable for the slave of the electric gearing, and the internal control word for enabling/disengaging synchronisation of the electric gearing. For a usage example of the electric gearing, see page 125 Index Name Object code Category
2041h Electric gearing actual value RECORD optional
Subindex Description Data type Category Access PDO mapping Value range Default value
0 Number of entries UNSIGNED8 optional ro not possible 3 3
Subindex 1 displays the internal setpoint speed determined from the master speed using the transmission ratio (object 2040h). Subindex Description Category Access PDO mapping Value range Default value
1 Slave velocity set point optional ro possible INTEGER32 0
Subindex 2 shows the determined master speed. Subindex Description Category Access PDO mapping Value range Default value
2 Master velocity of electric gearing optional ro possible INTEGER32 0
Subindex 3 displays the synchronisation status (engaged/disengaged) of the slave axis of the electric gearing. For an explanation, see the example on page 125 Subindex Description Category Access PDO mapping Value range Default value
CANopen for S300/S700
3 Internal control word for electric gearing optional ro possible 0, 1, 2, 5, 6 0
39
CANopen Drive Profile 4.2.1.24
Kollmorgen
05/2012
Object 2051h: Configuration of Position Registers This object is used to enable and set the trigger type and the polarity of the 16 position registers. Objects 2052h and 2053h are used to specify whether the absolute position, or the position relative to the actual position should be evaluated. Index Name Object code Data type Category
2051h Configuration of Position Registers ARRAY UNSIGNED32 optional
Subindex Description Data type Category Access PDO mapping Value range Default value
0 Number of entries UNSIGNED8 optional ro not possible 3 3
Using subindex 1, the position registers 16 P1 .. P16 can be individually enabled or locked via the assigned bits 0..15. The position register is locked by setting the relevant bit. Subindex Description Category Access PDO mapping Value range Default value
1 Enable position registers optional rww possible 0...65535 0
Subindex 2 defines the trigger type of the 16 position registers P1 - P16. If the corresponding bit is set to 0, the position is constantly monitored. If it is set to 1, after the position register is activated, the corresponding enable bit from subindex 1 is reset and monitoring is thus switched off. Subindex Description Category Access PDO mapping Value range Default value
2 Position register mode optional rww possible 0...65535 0
Subindex 3 is used to set the polarity for the monitoring of the 16 position registers P1 - P16. If it is set to 0, overshooting of the position is monitored, if it is set to 1, the undershoot of the position of the corresponding position register is monitored. Subindex Description Category Access PDO mapping Value range Default value
40
3 Position register polarity optional rw possible 0...65535 0
CANopen for S300/S700
Kollmorgen 4.2.1.25
05/2012
CANopen Drive Profile
Object 2052h: Position Registers, absolute This object is used to enter the values of the 16 position registers P1 - P16 as absolute positions. Index Name Object code Data type Category
2052h Position registers, absolute ARRAY INTEGER32 optional
Subindex Description Data type Category Access PDO mapping Value range Default value
0 Number of entries UNSIGNED8 optional ro not possible 16 16
The subindexes 1 to 16 are used to contact the positions of the position registers P1...P16 to be monitored. Subindex Description Category Access PDO mapping Value range Default value
4.2.1.26
1...16 Position registers 1..16, absolute optional rww possible INTEGER32 0
Object 2053h: Positions Registers, relative This object is used to enter the values of the 16 position registers P1 - P16 as positions relative to the current actual position. Index Name Object code Data type Category
2053h Position registers, relative ARRAY INTEGER32 optional
Subindex Description Data type Category Access PDO mapping Value range Default value
0 Number of entries UNSIGNED8 optional ro not possible 16 16
The subindexes 1 to 16 are used to contact the positions of the position registers P1...P16 to be monitored. Subindex Description Category Access PDO mapping Value range Default value
CANopen for S300/S700
1...16 Positions registers 1..16, relative optional rww possible INTEGER32 0
41
CANopen Drive Profile 4.2.1.27
Kollmorgen
05/2012
Object 2061h: Current limitation for velocity mode This object is used for rapid current limitation in velocity mode (0x3). A value of 3280 represents the maximum device current that can be queried using DIPEAK. This object acts on the ASCII parameter DPRILIMIT. In order to be effective, the configuration parameter DILIM must be set to 1.
4.2.1.28
Index Name Object code Data type Category
2061h Current limitation in velocity mode VAR UNSIGNED16 optional
Access PDO mapping Value range Default value
rww possible 0 .. 3280 0
Object 2080h: Motion task for profile position mode This object is an extension to the profile position mode. If the value of the object is not 0, the adressed motion task will be started with the next rising flank of the "New setpoint" bit of the control word (bit 4), if the bit "Change Set Immediately" (bit 5) is set. After the motion task is started, the value of the object will be reset automatically to 0.
4.2.1.29
Index Name Object code Data type Category
2080h Motion tasks in PP-Mode VAR UNSIGNED16 optional
Access PDO mapping Value range Default value
rw possible 1 ... 300 0
Object 2081h: Active motion task display This object shows the last motion task, which has been started in the drive. Motion tasks numbers from 1 to 200 show Flash-EEProm motion tasks, numbers from 201 to 300 show RAM-motion tasks. If there is no value in object 2080h and a motion task is started via the new-setpoint/setpoint acknowledge mechanism of the profile position mode, motion task 0 will be used and shown. If you start a set of stored motion tasks (bit 3 of the motion task control word O_C, Object 35B9 sub1 set), the active motion task will be shown in this object.
42
Index Name Object code Data type Category
2081h Active motion task display VAR UNSIGNED16 optional
Access PDO mapping Value range Default value
rw possible 1 ... 300 0
CANopen for S300/S700
Kollmorgen 4.2.1.30
05/2012
CANopen Drive Profile
Object 2082h: Copy motion tasks With the help of this object motion tasks can be copied in the drive. The motion task addressed in the low word is copied to the motion task addressed in the high word. EEPROM motion task between 1 and 200 can be written only if the power stage is disabled!
4.2.1.31
Index Name Object code Data type Category
2082h Copy motion tasks VAR UNSIGNED32 optional
Access PDO mapping Value range Default value
wo not possible High Word: 0 .. 300, low word: 0 .. 300 -
Object 2083h: Delete Motion tasks This object gives the possibility to delete all Flash-EEPROM motion tasks. This action is only been taken, if a special signature ("prom”) is written. "prom” has to be transmitted as unsigned32 - number 6D6F7270h. Deletion is only possible if the power stage is disabled and the NMT-state is PREOPERATIONAL.
4.2.1.32
Index Name Object code Data type Category
2083h delete motion tasks VAR UNSIGNED32 optional
Access PDO mapping Value range Default value
wo not possible UNSIGNED32 -
Object 2090h: DP-RAM Variables (read only) Index Name Object code Data type Category
2090h DP-Ram Variables, read only (PDO) ARRAY INTEGER32 optional
Subindex Description Data type Category Access PDO mapping Value range Default value
0 Number of entries UNSIGNED8 optional ro not possible 9 9
Subindex Description Category Access PDO mapping Value range Default value
1...8 DP-Ram Variables 9...16 optional ro possible INTEGER32 0
CANopen for S300/S700
43
CANopen Drive Profile 4.2.1.33
05/2012
Kollmorgen
Object 20A0h: Latch position 1, positive edge This object is used to output the position at which the first positive edge occurred on digital input 1 following latch enable (also see object 20A4). Output reactivates the latch mimic for a process. Prerequisite is the configuration of input 1 as a latch input (IN1MODE 26).
4.2.1.34
Index Name Object code Data type Category
20A0h Latch position 1, positive edge VAR INTEGER32 optional
Access PDO mapping Value range Default value
ro possible INTEGER32 0
Object 20A1h: Latch position 1, negative edge This object is used to output the position at which the first negative edge occurred on digital input 1 following latch enable (also see object 20A4). Output reactivates the latch mimic for a process. Prerequisite is the configuration of input 1 as a latch input (IN1MODE 26).
4.2.1.35
Index Name Object code Data type Category
20A1h Latch position 1, negative edge VAR INTEGER32 optional
Access PDO mapping Value range Default value
ro possible INTEGER32 0
Object 20A2h: Latch position 2, positive edge This object is used to output the position at which the first positive edge occurred on digital input 2 following latch enable (also see object 20A4). Output reactivates the latch mimic for a process. Prerequisite is the configuration of input 2 as a latch input (IN2MODE 26).
44
Index Name Object code Data type Category
20A2h Latch position 2, positive edge VAR INTEGER32 optional
Access PDO mapping Value range Default value
ro possible INTEGER32 0
CANopen for S300/S700
Kollmorgen 4.2.1.36
05/2012
CANopen Drive Profile
Object 20A3h: Latch position 2, negative edge This object is used to output the position at which the first negative edge occurred on digital input 2 following latch enable (also see object 20A4). Output reactivates the latch mimic for a process. Prerequisite is the configuration of input 2 as a latch input (IN2MODE 26).
4.2.1.37
Index Name Object code Data type Category
20A3h Latch position 2, negative edge VAR INTEGER32 optional
Access PDO mapping Value range Default value
ro possible INTEGER32 0
Object 20A4h: Latch Control Register The latch control register is used to enable the latch monitoring of digital inputs 1 and 2. The latch is enabled with a 1 signal and locked with a 0 signal. Whether or not a latch event has occurred can be recognised by the manufacturer status (see table), object 1002. Index Name Object code Data type Category
20A4h Latch Control Register VAR UNSIGNED8 optional
Access PDO mapping Value range Default value
rww possible 0...15 0
Bit 0 1 2 3 4-7
Edge Enable positive edge on digital input 1 Enable negative edge on digital input 1 Enable positive edge on digital input 2 Enable negative edge on digital input 2 reserviert
CANopen for S300/S700
Bit in Object 1002 20 21 4 18
45
CANopen Drive Profile 4.2.1.38
Kollmorgen
05/2012
Object 20B0h: Trigger Variable Digital Input 20 This object can be used to set the trigger variable for the software input 20. This object, which can also be mapped, can be used for the start/stop procedure in the electric gearing (if IN20MODE = 51 or 53).
4.2.1.39
Index Name Object code Data type Category
20B0h Trigger variable digital input 20 VAR INTEGER32 optional
Access PDO mapping Value range Default value
rww possible INTEGER32 0
Object 20B1h: Control Word Digital Inputs 5...20 The lower 16 bits of this object can be used to control the digital software inputs 5 to 20.
46
Index Name Object code Data type Category
20B1h Control word digital inputs 5 .. 20 VAR UNSIGNED32 optional
Access PDO mapping Value range Default value
rww possible 0...65535 0
CANopen for S300/S700
Kollmorgen 4.2.1.40
05/2012
CANopen Drive Profile
Object 20B2h: Analog Inputs This object can be used to input the voltages of analog inputs 1 and 2. Index Name Object code Data type Category
20B2h Analog Inputs ARRAY INTEGER16 optional
Subindex Description Data type Category Access PDO mapping Value range Default value
0 Number of entries UNSIGNED8 optional ro not possible 2 2
Subindex 1 returns the digital value of analog input 1 (10 V ~ 2000h). Subindex Description Category Access PDO mapping Value range Default value
1 Voltage analog input 1 optional ro possible INTEGER16 -
Subindex 2 returns the digital value of analog input 2 (10 V ~ 2000h). Subindex Description Category Access PDO mapping Value range Default value
CANopen for S300/S700
2 Voltage analog input 2 optional ro possible INTEGER16 -
47
CANopen Drive Profile 4.2.1.41
4.2.1.42
4.2.1.43
Kollmorgen
05/2012
Object 2100h: Write Dummy Index Name Object code Data type Category
2100h Write-Dummy variables for mapping RECORD UNSIGNED32 optional
Access PDO mapping Value range Default value
rww possible UNSIGNED32 1
Object 2101h: Read Dummy Index Name Object code Data type Category
2101h Read-Dummy variables for mapping RECORD UNSIGNED32 optional
Access PDO mapping Value range Default value
ro possible UNSIGNED32 1
Object 60FDh: Digital inputs (DS402) This index defines simple digital inputs for drives. The bits 0 to 2 can be supported by the drive, if the needed function is configured to the digital inputs with the ASCII - commands INxMODE (x may be 1 to 4), e.g. IN3MODE = 2, PSTOP - function, see Online Help). Index Name Object code Data type Category
60FDh digital inputs VAR UNSIGNED32 optional
Access PDO mapping Value range Default value
ro possible UNSIGNED32 0
31 16 15 4 manufacturer interlock specific MSB
3
2
interlock
home switch
1 pos. limit switch
0 neg. limit switch LSB
The switch have to be "active high".
48
CANopen for S300/S700
Kollmorgen 4.2.1.44
CANopen Drive Profile
05/2012
Object 6502h: Supported drive modes (DS402) A drive can support more then one and several distinct modes of operation. This object gives anoverview of the implemented operating modes in the device. This object is read only. Index Name Object code Data type Category
6502h supported drive modes VAR UNSIGNED32 optional
Access PDO mapping Value range
ro possible UNSIGNED32
Default value
0x6D (ip hm tq pv pp)
31 16 15 7 manufacturer specific reserved MSB
4.3
6 ip
5 hm
4 reserved
3 tq
2 pv
1 vl
0 pp LSB
PDO Configuration PDOs are used for process data communication. There are distinguished two types of PDOs: Receive PDOs (RPDOs) and transmit PDOs (TPDOs). The content of the PDOs is pre-defined (see descriptions on pages 50 and 52). If the data content is not appropriate for a special application the data objects in the PDOs can be remapped freely. One data entry in the PDOs looks like this: MSB
LSB index (16 bit)
sub-index (8 bit)
data length in bits (8 bit)
The configuration procedure for a free mapping of a PDO looks like this (example for TPDO1): 1. Delete the actual mapping of the PDO by writing a 0 to the subindex 0 of the mapping Object COB-ID 601
Index Control byte Low byte High byte 2F ´00 1A
Subindex 00h
Data
Comment
00 00 00 00 Delete actual mapping
2. Build the mapping with object dictionary objects (see page 99)) which are mappable, e.g. COB-ID
Index Control byte Low byte High byte
Subindex
601
23
00
1A
01h
601
23
00
1A
02h
Data
Comment
1st entry: CANopen statusword with 16 bits 2nd entry: 20 00 02 10 Manufacturer status with 32 bits 10 00 41 60
3. Write the number of mapped objects to subindex 0 of the mapping Object. COB-ID 601
Index Control byte Low byte High byte 2F 00 1A
Subindex 00h
Data
Comment
02 00 00 00 Check for the right number of entries
Mapping shall be done before the network management is switched to OPERATIONAL.
CANopen for S300/S700
49
CANopen Drive Profile 4.3.1
Kollmorgen
05/2012
Receive PDOs (RXPDO) Four Receive PDOs can be configured in the servo amplifier: - configuration of the communication (Objects 1400-1403h) - configuration of the PDO-contents (mapping, Objects 1600-1603h)
4.3.1.1
Objects 1400-1403h: 1st - 4th RXPDO communication parameter (DS301) Index Name Object code Data type Category
1400h ... 1403h for RXPDO 1 ... 4 receive PDO parameter RECORD PDO CommPar mandatory
Defined sub-indices Subindex Name Data type Category Access PDO Mapping Value Range Default Value
0 number of entries UNSIGNED8 mandatory ro not possible 2 2
Subindex Name Category Access PDO Mapping Value Range
1 COB-ID used by PDO mandatory rw not possible UNSIGNED32 Index 1400h: 200h + Node-ID Index 1402h: 400h + Node-ID
Default Value Subindex Name Category Access PDO Mapping Value Range Default Value
Index 1401h: 300h + Node-ID Index 1403h: 500h + Node-ID
2 transmission type mandatory rw not possible UNSIGNED8 FFh
Subindex 1 contains the COB-Id of the PDO as a bit coded information: Bit-Number 31 30 29 28 .. 11 10 .. 0
Value 0 1 0 1 0 1 X X
Meaning PDO exists / is valid PDO does not exist / is not valid RTR allowed on this PDO, not supported RTR not allowed on this PDO, not supported 11 bit-ID (CAN 2.0A) 29 bit-ID (CAN 2.0B), not supported Identifier-bits with 29 bit-ID, not relevant Bits 10-0 of COB-ID
Subindex 2 contains the transmission type of the PDO. There are two ways of setting: — the value FFh or 255 for event-triggered PDO, which is directly interpreted by reception and taken into actions, — values from 0 to 240, which cause a SYNC-telegram-controlled interpretation of the PDO contents. Values of 1 to 240 mean, that 0 to 239 SYNC-telegrams are ignored, before one is interpreted. The value 0 means, that only the next SYNC-telegram is interpreted.
50
CANopen for S300/S700
Kollmorgen 4.3.1.2
05/2012
Objects 1600-1603h: 1st - 4th RXPDO mapping parameter (DS301) Index Name Object Code Data Type Category
1600h - 1603h for RXPDO 1 .. 4 receive PDO mapping RECORD PDO Mapping mandatory
Subindex Name Data type Category Access PDO Mapping
0 number of entries UNSIGNED8 mandatory rw not possible 0: PDO is not active 1 - 8: PDO activated, mappings are taken only byte-wise PDO1: 1 PDO2: 2 PDO3: 2 PDO4: 2
Value Range
Default Value
Subindex Name Category Access PDO Mapping Value Range Default Value
4.3.1.3
CANopen Drive Profile
1-8 PDO - mapping for the n-th application object Conditional, depends on number and size of object be mapped rw not possible UNSIGNED32 See below
Default RXPDO definition RXPDO 1: Subindex 0 1
Value Meaning 1 One PDO-mapping entry 60 40 00 10 Controlword
RXPDO 2: Subindex 0 1 2
Value 2 60 40 00 10 60 60 00 08
Meaning Two PDO-mapping entries Controlword Modes of Operation
Value 2 60 40 00 10 60 7A 00 20
Meaning Two PDO-mapping entries Controlword Target Position (Mode PP)
Value 2 60 40 00 10 60 FF 00 20
Meaning Two PDO-mapping entries Controlword Target Velocity (Mode PV)
RXPDO 3: Subindex 0 1 2
RXPDO 4: Subindex 0 1 2
CANopen for S300/S700
51
CANopen Drive Profile 4.3.2
Kollmorgen
05/2012
Transmit PDOs (TXPDO) Four Transmit PDOs can be configured in the servo amplifier: - configuration of the communication (Objects 1800-1803h) - configuration of the PDO-contents (mapping, Objects 1A00-1A03h)
4.3.2.1
Objects 1800-1803h: 1st - 4th TXPDO communication parameter (DS301) Index Name Object code Data type Category
1800h ... 1803h for TXPDO 1 ... 4 transmit PDO parameter RECORD PDO CommPar mandatory
Subindex Name Data type Category Access PDO Mapping Value Range Default Value
0 number of entries UNSIGNED8 mandatory ro not possible 5 5
Subindex Name Category Access PDO Mapping Value Range
1 COB-ID used by PDO mandatory rw not possible UNSIGNED32 Index 1800h: 40000180h + Node-ID Index 1802h: 40000380h + Node-ID
Default Value
52
Index 1801h: 40000280h + Node-ID Index 1803h: 40000480h + Node-ID
Subindex Name Category Access PDO Mapping Value Range Default Value
2 transmission type mandatory rw not possible UNSIGNED8 FFh
Subindex Name Category Access PDO Mapping Value Range Default Value
3 inhibit time optional rw not possible UNSIGNED16 (n*1/10ms) 0h
Subindex Name Category Access PDO Mapping Value Range Default Value
4 reserved optional rw not possible 0 0
Subindex Name Category Access PDO Mapping Value Range Default Value
5 event timer optional rw not possible UNSIGNED16 (0=not used, n*1/10ms) 0h
CANopen for S300/S700
Kollmorgen
05/2012
CANopen Drive Profile
Subindex 1 contains the COB-Id of the PDO as a bit coded information: Bit-Number 31
30
29 28 .. 11 10 .. 0
Value 0 1 0 1 0 1 X X
Meaning PDO exists / is valid PDO does not exist / is not valid RTR allowed on this PDO, supported from Firmware 3.00 RTR not allowed on this PDO. This bit must be set from FW 3.00, because RTR access to Tx-PDOs is generally not supported. 11 bit-ID (CAN 2.0A) 29 bit-ID (CAN 2.0B), not supported Identifier-bits with 29 bit-ID, not relevant Bits 10-0 of COB-ID
Subindex 2 contains the transmission type of the PDO. There are two ways of setting: —
—
4.3.2.2
a value of FFh or 255 for an event-triggered PDO, which is sent immediately after a change in the mapped application objects. Setting of sub-index 3 or 5 has an influence on the sending of a PDO. With sub-index 3 you can configure, in which minimal time the so configured Transmit-PDOs are sent, if PDO-data contents change (reduction of bus-load). With sub-index 5 (event time) a timer is used, which is resetted with every event-triggered sending of this PDO. If there is no change of the PDO-content in this time, the PDO is sent caused by this timer event. values from 0 to 240 cause a SYNC-Telegram controlled sending of the PDO. Values of 1 to 240 define how often the SYNC-telegram leads to a sending of a PDO. The value 0 means, that only the next SYNC-telegram leads to a sending of the so configured PDOs.
Objects 1A00-1A03h: 1st - 4th TXPDO mapping parameter (DS301) Index Name Object Code Data Type Category
1A00h - 1A03h for TXPDO 1 .. 4 transmit PDO mapping RECORD PDO Mapping mandatory
Subindex Name Data type Category Access PDO Mapping
0 number of mapped application objects in PDO UNSIGNED8 mandatory rw not possible 0: PDO is not active 1 - 8: PDO activated, mappings are taken only byte-wise PDO1: 1 PDO2: 2 PDO3: 2 PDO4: 2
Value Range
Default Value
Subindex Name Category Access PDO Mapping Value Range Default Value
CANopen for S300/S700
1-8 PDO - mapping for the n-th application object Conditional, depends on number and size of object be mapped rw not possible UNSIGNED32 See below
53
CANopen Drive Profile 4.3.2.3
05/2012
Kollmorgen
Default TXPDO definition TXPDO 1: Subindex 0 1
Value Meaning 1 One PDO-mapping entry 60 41 00 10 Statusword
TXPDO 2: Subindex 0 1 2
Value 2 60 41 00 10 60 61 00 08
Meaning Two PDO-mapping entries Statusword Modes of Operation display
Value 2 60 41 00 10 60 64 00 20
Meaning Two PDO-mapping entries Statusword Position actual value
Value 2 60 41 00 10 60 6C 00 20
Meaning Two PDO-mapping entries Statusword Velocity actual value
TXPDO 3: Subindex 0 1 2
TXPDO 4: Subindex 0 1 2
54
CANopen for S300/S700
CANopen Drive Profile 4.4
Kollmorgen
05/2012
Device control (dc) The device control of the S300/S700 can be used to carry out all the motion functions in the corresponding modes. The control of the S300/S700 is implemented through a mode-dependent status machine. The status machine is controlled through the control word (Þ p.57). The mode setting is made through the object "Modes of Operation” (Þ p.99). The states of the status machine can be revealed by using the status word (Þ p.59).
4.4.1
Status Machine (DS402) Fault
Power Disabled
13
Fault Reaction Active
Start 0
14
Not Ready to Switch On
Fault
1
15
Switch On Disabled 2
7
Ready to Switch On
Power Enabled
6
3
10
12
Switched On 9
8 4
5 11
Operation Enable
4.4.1.1
16
Quick Stop Active
States of the Status Machine State
Description S300/S700 is not ready to switch on, there is no operational readiness (BTB/RTO) Not Ready for Switch On signaled from the controller program. S300/S700 is ready to switch on, parameters can be transferred, Switch On Disable the DC-link voltage can be switched on, motion functions cannot be carried out yet. DC-link voltage may be switched on, parameters can be transferred, Ready to Switch On motion functions cannot be carried out yet. DC-link voltage must be switched on, parameters can be transferred, motion funcSwitched On tions cannot be carried out yet, output stage is switched on (enabled). Operation Enable No fault present, output stage is enabled, motion functions are enabled. Drive has been stopped with the emergency ramp, output stage is enabled, motion Quick Stop Active functions are not enabled. Fault Reaction Active A fault has occured and the drive is stopped with the quickstop ramp. Fault A fault is active, the drive has been stopped and disabled.
CANopen for S300/S700
55
CANopen Drive Profile 4.4.1.2
Kollmorgen
05/2012
Transitions of the status machine The state transitions are affected by internal events (e.g. switching off the DC-link voltage) and by the flags in the control word (bits 0,1,2,3,7). Transition 0 1
2
Event Reset Initialization completed successfully. S300/S700 is ready to operate. Bit 1 Disable Voltage and Bit 2 Quick Stop are set in the control word (Shutdown command). DC-link voltage may be present.
3
Bit 0 is also set (Switch On command)
4
Bit 3 is also set (Enable Operation command)
5
Bit 3 is canceled (Disable Operation command)
6 7 8 9 10
11
Bit 0 is canceled (Shutdown command) Bits 1 and 2 are canceled (Quick Stop / Disable Voltage command) Bit 0 is canceled (Shutdown command) Bit 1 is canceled (Disable Voltage command) Bits 1 and 2 are canceled (Quick Stop / Disable Voltage command)
Bit 2 is canceled (Quick Stop command)
13
Bit 1 is canceled (‘Disable Voltage’ command) Fault reaction active
14
Fault reaction is completed
15
"Fault Reset" command received from host
16
Bit 2 is set
12
Action Initialization none
none Output stage is switched on (enabled), provided that the hardware enable is present (logical AND). Drive has torque. Motion function is enabled, depending on the mode that is set. Motion function is inhibited. Drive is stopped, using the relevant ramp (mode-dependent). The present position is maintained. Output stage is disabled. Drive has no torque. none Output stage is disabled. Drive has no torque. Output stage is disabled. Drive has no torque. Output stage is disabled. Drive has no torque. Drive is stopped with the emergency braking ramp. The output stage remains enabled. Setpoints are canceled (motion block number, digital setpoint, speed for jogging or homing). Bit 2 must be set again before any further motion tasks can be performed. Output stage is disabled. Drive has no torque. Execute appropriate fault reaction Drive function is disabled. The power section may be switched off. A reset of the fault condition is carried out if no fault exists currently on the drive.After leaving the state Fault the Bit7 'Reset Fault' of the controlword has to be cleared by the host Motion function is enabled again.
If the servo amplifier is operated through the control word / status word, then no control commands may be sent through another communication channel (RS232, CANopen, ASCII channel, Option board).
56
CANopen for S300/S700
Kollmorgen
CANopen Drive Profile
05/2012
4.4.2
Object Description
4.4.2.1
Object 6040h: Controlword (DS402) The control commands are built up from the logical combination of the bits in the control word and external signals (e.g enable output stage). The definitions of the bits are shown below: Index Name Object code Data type
6040h control word VAR UNSIGNED16
Access PDO mapping Unit Value range EEPROM Default value
rw possible — 0 ... 65535 no 0
Bit assignment im control word Bit 0 1 2 3 4 5 6 7
Name Switch on Disable Voltage Quick Stop Enable Operation Operation mode specific Operation mode specific Operation mode specific Fault Reset )*
Bit 8 9 10 11 12 13 14 15
Name Pause/halt reserved reserved reserved reserved Manufacturer-specific Manufacturer-specific Manufacturer-specific
)* Warnings Contouring Error (n03) and Response Monitoring Time (Nodeguarding / Heartbeat error) are resetted by bit 7 (Fault Reset), too. Commands in the control word Command
Shutdown Switch on Disable Voltage Quick Stop Disable Operation Enable Operation Fault Reset
Bit 7 Fault Reset X X X X X X 1
Bit 3 Enable Operation X X X X 0 1 X
Bit 2 Quick Stop 1 1 X 0 1 1 X
Bit 1 Disable Voltage 1 1 0 1 1 1 X
Bit 0 Switch on
Transitions
0 1 X X 1 1 X
2, 6, 8 3 7, 9, 10, 12 7, 10, 11 5 4, 16 15
Bits marked by an X are irrelevant.
CANopen for S300/S700
57
CANopen Drive Profile
Kollmorgen
05/2012
Mode-dependent bits in the control word The following table shows the mode-dependent bits in the control word. Only manufacturer-specific modes are supported at present. The individual modes are set by Object 6060h Modes of operation. Operation mode Position Digital speed Digital current Analog speed Analog current Profile Position Mode (pp) Profile Velocity Mode (pv) Profile Torque Mode (tq) Homing Mode (hm) Interpolated Position Mode (ip)
No. 88h 80h 82h 81h 83h 01h 03h 04h 06h
Bit 4 reserved reserved reserved reserved reserved new_set_point reserved reserved homing_operation_start
07h
Bit 5 reserved reserved reserved reserved reserved change_set_immediately reserved reserved reserved
Bit 6 reserved reserved reserved reserved reserved absolute / relative reserved reserved reserved
reserved
reserved
Description of the remaining bits in the control word The remaining bits in the control word are described below. Bit 8 Pause If Bit 8 is set, then the drive halts (pauses) in all modes. The setpoints (speed for homing or jogging, motion task number, setpoints for digital mode) for the individual modes are retained. Bit 9,10 These bits are reserved for the drive profile (DS402). Bit 13, 14, 15 These bits are manufacturer-specific, and reserved at present.
58
CANopen for S300/S700
Kollmorgen 4.4.2.2
CANopen Drive Profile
05/2012
Object 6041h: Statusword (DS402) The momentary state of the status machine can be read out with the aid of the status word (Þ p.38). Index Name Object code Data type
6041h Status word VAR UNSIGNED16
Access PDO mapping Unit Value range EEPROM Default value
rw possible — 0 ... 65535 yes 0
Bit assignment in the status word Bit 0 1 2 3 4 5 6 7
Name Ready to switch on Switched on Operation enable Fault Voltage enabled Quick stop Switch on disabled Warning
Bit 8 9 10 11 12 13 14 15
Name Manufacturer-specific (reserved) Remote (always 1) Target reached Internal limit active Operation mode specific (reserved) Operation mode specific (reserved) Manufacturer-specific (reserved) Manufacturer-specific (reserved)
States of the status machine State
Not ready to switch on Switch on disabled Ready to switch on Switched on Operation enabled Fault Fault reaction active Quick stop active
Bit 6 switch on disable 1 1 0 0 0 0 0 0
Bit 5 quick stop
Bit 3 fault
X X 1 1 1 X X 0
0 0 0 0 0 1 1 0
Bit 2 operation enable 0 0 0 0 1 0 1 1
Bit 1 switched on 0 0 0 1 1 0 1 1
Bit 0 ready to switch on 0 0 1 1 1 0 1 1
Bits marked by X are irrelevant Description of the remaining bits in the status word Bit 4: voltage_enabled The DC-link voltage is present if this bit is set. Bit 7: warning There are several possible reasons for Bit 7 being set and this warning being produced. The reason for this warning can be revealed by using the Object 20subindex manufacturer warnings. Bit 9: remote is always set to 1, i.e. the drive can always communicate and be influenced via the RS232 - interface. Bit 10: target_reached This is set when the drive has reached the target position. Bit 11: internal_limit_active This bit specifies that a movement was or is limited. In different modes, different warnings cause the bit to be set. The following assignments exist: Mode of operation all 0x1 (PP), 0x88
CANopen for S300/S700
Warnings which set Bit 11 n04, n06, n07, n10, n11, n14 n03, n08, n09, n20
59
CANopen Drive Profile 4.4.2.3
Kollmorgen
05/2012
Object 6060h: Modes of Operation (DS402) This object is used to set the mode, which can be read out by Object 6061h. Two types of operating mode can be distinguished: manufacturer-specific operating modes These modes of operation have been optimized to the functionality of the equipment. operating modes as per CANopen drive profile DS402 These operating modes are defined in the CANopen drive profile DS402. After the mode has been changed, the corresponding setpoint must be set once more (for instance, the homing velocity in the mode homing_setpoint). If the position or jogging mode is stored, then the Homing mode is set after a RESET of the servo amplifier.
An operating mode only becomes valid when it can be read by Object 6061h.
Never change the mode while the motor is running! The drive could do unexpected movements. When the servo amplifier is enabled, a mode change is only permissible at zero speed. Set the speed setpoint to 0 before changing over.
Index Name Object code Data type
6060h mode of operation VAR INTEGER8
Category Access PDO mapping Value range Default value
mandatory rw possible 80h ... 88h, 1, 3, 4, 6, 7 —
Supported modes (negative values are manufacturer specific modes): Value (hex) 80 81 82 83 84 85 86 87 88 1 3 4 6 7
60
Mode Digital velocity control mode Analogue velocity control mode Digital current control mode Analog current control mode Electronic gearing reserved reserved reserved Motion task mode Profile position mode Profile velocity mode Profile torque mode Homing mode Interpolated position mode
CANopen for S300/S700
Kollmorgen 4.4.2.4
05/2012
CANopen Drive Profile
Object 6061h: Modes of Operation Display (DS402) This object can be used to read the mode that is set by Object 6060h. An operating mode only becomes valid when it can be read by Object 6061h (see also Object 6060h).
4.5
Index Name Object code Data type
6061h mode of operation display VAR INTEGER8
Category Access PDO mapping Value range Default value
mandatory ro possible 80h ... 88h, 1, 3, 4, 6, 7 —
Factor Groups (fg) (DS402) The "factor groups" define the units of position-, velocity- and acceleration setpoints. These values are converted into drive-specific parameters. Actually the units definitions are not finally defined in the CANopen profile DS402. Therefore the Objects 6089h to 609Eh should not be used. The drive parameters for the unit definitions should be set as follows: PUNIT = 0 (counts) VUNIT = 0 (counts / s) ACCUNIT = 3 (counts / s²)
4.5.1
General Information
4.5.1.1
Factors There is a possibility to convert between physical dimensions and sizes, and the internal units used in the device (increments). Several factors can be implemented. This chapter describes how these factors influence the system, how they are calculated and which data are necessary to build them.
4.5.1.2
Relationship between Physical and Internal Units The factors defined in the factor group set up a relationship between device-internal units (increments) and physical units. The factors are the result of the calculation of two parameters called dimension index and notation index. The dimension index indicates the physical dimension, the notation index indicates the physical unit and a decimal exponent for the values. These factors are directly used to normalize the physical values. The notation index can be used in two ways: l
For a unit with decimal scaling and notation index < 64, the notation index defines the exponent/decimal place of the unit.
l
For a unit with non-decimal scaling and notation index > 64, the notation index defines the subindex of the physical dimension of the unit.
CANopen for S300/S700
61
CANopen Drive Profile
Kollmorgen
05/2012
4.5.2
Objects for position calculation
4.5.2.1
Object 6089h: position notation index (DS402) Index Name Object code Data type
6089h position notation index VAR INTEGER8
Category Access PDO mapping Value range Default value
mandatory rw not possible INTEGER8 0
The "position notation index" scales position setpoints, which units are defined with the "position dimension index" in SI-units, in powers of ten. Relationship between the values for Object 6089 and the manufacturer specific parameter PUNIT: Value of Object 6089h FFh FEh FDh FCh FBh FAh F9h F8h F7h 0
4.5.2.2
ASCII parameter PUNIT 1 2 3 4 5 6 7 8 9 0
Scaling 10-1 10-2 10-3 10-4 10-5 10-6 10-7 10-8 10-9 1
Object 608Ah: position dimension index (DS402) Index Name Object code Data type
608Ah position dimension index VAR UNSIGNED8
Category Access PDO mapping Value range Default value
mandatory rw not possible UNSIGNED8 0
The "position dimension index" defines the SI-units of the used position setpoints. Relationship between the Object-values and the manufacturer-specific parameter PUNIT: Value of Object608Ah 1 0
ASCII parameter PUNIT 9...1 0
SI unit m Manufacturer specific increments
The parameter PUNIT can be stored in the drive. The values of Object 6089h and 608Ah are initialized by that parameter.
62
CANopen for S300/S700
Kollmorgen 4.5.2.3
05/2012
CANopen Drive Profile
Object 608Fh: Position encoder resolution (DS402) The position encoder resolution defines the ratio of encoder increments per motor revolution. This object is used in the same way for Object 6090 (velocity encoder resolution). position encoder resolution =
encoder increments motor revolutions
Index Name Object Code Data Type Category
608Fh Position encoder resolution ARRAY UNSIGNED 32 optional
Subindex Name Data type Category Access PDO Mapping Value Range Default Value
0 number of entries UNSIGNED8 mandatory ro not possible 2 2
Subindex Name Category Access PDO Mapping Value Range Default Value
1 Encoder increments mandatory rw possible UNSIGNED 32 2^20
Subindex Name Category Access PDO Mapping Value Range Default Value
2 Motor revolutions mandatory rw possible UNSIGNED 32 1
CANopen for S300/S700
63
CANopen Drive Profile 4.5.2.4
05/2012
Kollmorgen
Object 6091h: Gear ratio (DS402) The gear ratio defines the ratio of motor shaft revolution per driving shaft revolutions. This includes thegear if present. gear ratio =
64
motor shaft revolutions driving shaft revolutions
Index Name Object Code Data Type Category
6091h Gear ratio ARRAY UNSIGNED 32 optional
Subindex Name Data type Category Access PDO Mapping Value Range Default Value
0 number of entries UNSIGNED8 mandatory ro not possible 2 2
Subindex Name Category Access PDO Mapping Value Range Default Value
1 Motor revolutions mandatory rw possible UNSIGNED 32 1
Subindex Name Category Access PDO Mapping Value Range Default Value
2 Shaft revolutions mandatory rw possible UNSIGNED 32 1
CANopen for S300/S700
Kollmorgen 4.5.2.5
05/2012
CANopen Drive Profile
Object 6092h: Feed constant (DS402) The feed constant defines the ratio of feed in position units per driving shaft revolutions. This includesthe gear if present. feed cons tan t =
feed driving shaft revolutions
Index Name Object Code Data Type Category
6092h Feed constant ARRAY UNSIGNED 32 optional
Subindex Name Data type Category Access PDO Mapping Value Range Default Value
0 number of entries UNSIGNED8 mandatory ro not possible 2 2
Subindex Name Category Access PDO Mapping Value Range Default Value
1 Feed mandatory rw possible UNSIGNED 32 1
Subindex Name Category Access PDO Mapping Value Range Default Value
2 Shaft revolutions mandatory rw possible UNSIGNED 32 1
CANopen for S300/S700
65
CANopen Drive Profile 4.5.2.6
Kollmorgen
05/2012
Object 6093h: Position factor (DS402) The position factor converts the desired position (in position units) into the internal format (in increments). These values are calculated via the Objects 608F and 6091. position factor =
66
position encoder resolution * gear ratio feed cons tan t
Index Name Object Code Data Type Category
6093h Position factor ARRAY UNSIGNED 32 optional
Subindex Name Data type Category Access PDO Mapping Value Range Default Value
0 number of entries UNSIGNED8 mandatory ro not possible 2 2
Subindex Name Category Access PDO Mapping Value Range Default Value
1 Numerator (position encoder resolution * gear ratio) mandatory rw possible UNSIGNED 32 1
Subindex Name Category Access PDO Mapping Value Range Default Value
2 Feed constant mandatory rw possible UNSIGNED 32 1
CANopen for S300/S700
Kollmorgen 4.5.2.7
05/2012
CANopen Drive Profile
Object 6094h: Velocity encoder factor (DS402) Object 6094 is supported as read-only object just for compatibility reasons. It converts the velocity to the internal S300/S700 data format (increments). Scaling according to object 6093 subindices 1 and 2. Index Name Object Code Data Type Category
6094h velocity_encoder_factor ARRAY UNSIGNED32 optional
Subindex Name Data type Category Access PDO Mapping Value Range Default Value
0 Anzahl der Einträge UNSIGNED8 mandatory ro not possible 2 2
Subindex Name Category Access PDO Mapping Value Range Default Value
1 numerator mandatory ro not possible 0..(232-1) 0
Subindex Name Category Access PDO Mapping Value Range Default Value
2 divisor mandatory ro not possible 0..(232-1) 0
CANopen for S300/S700
67
CANopen Drive Profile
Kollmorgen
05/2012
4.5.3
Objects for velocity calculations
4.5.3.1
Object 608Bh: velocity notation index (DS402) Index Name Object code Data type
608Bh velocity notation index VAR INTEGER8
Category Access PDO mapping Value range Default value
mandatory rw not possible INTEGER8 0
The "velocity notation index" scales velocity setpoints, which units are defined with the "velocity dimension index" as SI-units, in powers of ten. Relationship between the Object-values and the parameter VUNIT: Value of Object608Bh 0 0 0 0 FDh FDh
4.5.3.2
ASCII parameter VUNIT 0 1 5 6 7 8
Scaling 1 1 1 1 10-3 10-3
Object 608Ch: velocity dimension index (DS402) Index Name Object code Data type
608Ch velocity dimension index VAR UNSIGNED8
Category Access PDO mapping Value range Default value
mandatory rw not possible UNSIGNED8 0
The "velocity dimension index" defines the SI-unit of the used velocity setpoints. Relationship between the Object-values and the manufacturer-specific parameter VUNIT: Value of Object608Ch A6h A4h A6h A7h A6h A7h
ASCII parameter VUNIT 0 1 5 6 7 8
SI unit m/s turn/min m/s m/min m/s m/min
The parameter VUNIT can be stored in the drive. The values for Objects 608Bh and 608Ch are initialized by this parameter. Only the described values for VUNIT are possible with the profile DS402.
68
CANopen for S300/S700
Kollmorgen
05/2012
CANopen Drive Profile
4.5.4
Objects for acceleration calculations
4.5.4.1
Object 608Dh: acceleration notation index (DS402) Index Name Object code Data type
608Dh acceleration notation index VAR INTEGER8
Category Access PDO mapping Value range Default value
mandatory rw not possible INTEGER8 0
The "acceleration notation index" scales acceleration setpoints, which units are defined with the"acceleration dimension index" as SI-units, in powers of ten. Relationship between the Object-values and the parameter ACCUNIT: Value of Object608Dh 0 FAh FDh
4.5.4.2
ASCII parameter ACCUNIT 1,5 3 4
Scaling 1 10-6 10-3
Object 608Eh: acceleration dimension index (DS402) Index Name Object code Data type
608Eh acceleration dimension index VAR UNSIGNED8
Category Access PDO mapping Value range Default value
mandatory rw not possible UNSIGNED8 AEh
The "acceleration dimension index" defines the SI-unit of the used acceleration setpoints. Relationship between the Object-values and the manufacturer-specific parameter ACCUNIT: Value of Object608Eh AEh 55h
ASCII parameter ACCUNIT 1 3, 4, 5
SI unit rad/s² m/s
The parameter ACCUNIT can be stored in the drive. The values for Objects 608Dh and 608Eh are initialized by this parameter. Only the described values for ACCUNIT are possible with the profile DS 402.
CANopen for S300/S700
69
CANopen Drive Profile 4.5.4.3
Kollmorgen
05/2012
Object 6097h: Acceleration factor (DS402) The acceleration factor converts the acceleration (in acceleration units / s) into the internal format (in increments / s). This factor is actually calculated from Object 6093 and readable only. acceleration factor =
70
velocity unit * velocity encoder factor acceleration unit * sec ond
Index Name Object Code Data Type Category
6097h Acceleration factor ARRAY UNSIGNED 32 optional
Subindex Name Data type Category Access PDO Mapping Value Range Default Value
0 number of entries UNSIGNED8 mandatory ro not possible 2 2
Subindex Name Category Access PDO Mapping Value Range Default Value
1 Numerator (velocity unit * velocity encoder factor) mandatory ro possible UNSIGNED 32 1
Subindex Name Category Access PDO Mapping Value Range Default Value
2 Divisor (acceleration unit * second) mandatory ro possible UNSIGNED 32 1
CANopen for S300/S700
Kollmorgen
CANopen Drive Profile
05/2012
4.6
Profile Velocity Mode (pv) (DS402)
4.6.1
General Information The profile velocity mode enables the processing of velocity setpoints and the associated accelerations.
4.6.2
Objects that are defined in this section Index Object 606Ch VAR 60FFh VAR
4.6.3
Name velocity actual value target velocity
Type INTEGER32 INTEGER32
Access r rw
Objects that are defined in other sections Index 6040h
Object VAR
Name control word
Type INTEGER16
6041h
VAR
status word
UNSIGNED16
dc (Þ p.55)
6063h
VAR
position actual value*
INTEGER32
pc (Þ p.73)
6083h
VAR
profile acceleration
UNSIGNED32
pp (Þ p.83)
6084h
VAR
profile deceleration
UNSIGNED32
pp (Þ p.83)
6086h
VAR
motion profile type
INTEGER16
pp (Þ p.83)
6094h
ARRAY
velocity encoder factor
UNSIGNED32
fg (Þ p.61)
4.6.4
Object Description
4.6.4.1
Object 606Ch: velocity actual value (DS402)
Section dc (Þ p.55)
The object velocity actual value represents the actual speed. The scaling of the value depends on the factor velocity encoder resolution (Object 6094h). Index Name Object code Data type Mode Access PDO mapping Unit Value range Default value EEPROM
4.6.4.2
606Ch velocity actual value VAR INTEGER32 pv ro possible velocity units (-231) ... (231-1) — no
Object 60FFh: target velocity (DS402) The speed setpoint (target velocity) represents the setpoint for the ramp generator. The scaling of this value depends on the factor velocity encoder resolution (Object 6094h). Index Name Object code Data type Mode Access PDO mapping Unit Value range Default value EEPROM
CANopen for S300/S700
60FFh target velocity VAR INTEGER32 pv rw possible increments (-231) ... (231-1) — no
71
CANopen Drive Profile
Kollmorgen
05/2012
4.7
Profile Torque Mode (tq) (DS402)
4.7.1
General Information The profile torque mode enables the processing of torque setpoints and the associated current.
4.7.2
Objects that are defined in this section Index 6071h 6073h 6077h
Object VAR VAR VAR
Name Target torque Max current Torque actual value
Type INTEGER16 UNSIGNED16 INTEGER16
4.7.3
Object description
4.7.3.1
Object 6071h: Target torque (DS402)
Access rw rw ro
This parameter is the input value for the torque controller in profile torque mode and the value is given per thousand of rated torque.
4.7.3.2
Index Name Object code Data type Category
6071h Target torque VAR INTEGER16 conditional; mandatory, if tq supported
Access PDO mapping Value range Default value
rw possible INTEGER16 0
Object 6073h: Max current (DS402) This value represents the maximum permissible torque creating current in the motor and is given per thousand of rated current.
4.7.3.3
Index Name Object code Data type Category
6073h Max current VAR UNSIGNED16 optional
Access PDO mapping Value range Default value
rw possible UNSIGNED16 0
Object 6077h: Torque actual value (DS402) The torque actual value corresponds to the instantaneous torque in the drive motor. The value is given per thousand of rated torque.
72
Index Name Object code Data type Category
6077h Torque actual value VAR INTEGER16 optional
Access PDO mapping Value range Default value
ro possible INTEGER16 0
CANopen for S300/S700
Kollmorgen
CANopen Drive Profile
05/2012
4.8
Position Control Function (pc) (DS402)
4.8.1
General Information This section describes the actual position values that are associated with the position controller of the drive. They are used for the profile position mode.
4.8.2
Objects that are defined in this section Index 6063h 6064h 6065h 6067h 6068h
4.8.3
Object VAR VAR VAR VAR VAR
Name position actual value* position actual value following error window position window position window time
Type INTEGER32 INTEGER32 UNSIGNED32 UNSIGNED32 UNSIGNED16
Access r r rw rw rw
Objects that are defined in other sections Index Object 607Ah VAR 607Ch VAR
Name target position
Type INTEGER32
Section
home-offset
INTEGER32
hm (Þ p.80)
607Dh ARRAY
software position limit
INTEGER32
pp (Þ p.83)
607Fh VAR 6093h VAR 6094h ARRAY
max. profile velocity
UNSIGNED32
pp (Þ p.83)
position factor
UNSIGNED32
fg (Þ p.61)
velocity encoder factor
UNSIGNED32
fg (Þ p.61)
pp (Þ p.83)
6096h
ARRAY
acceleration factor
UNSIGNED32
fg (Þ p.61)
6040h
VAR
control word
INTEGER16
dc (Þ p.55)
6041h
VAR
status word
UNSIGNED16
dc (Þ p.55)
4.8.4
Object Description
4.8.4.1
Object 6063h: position actual value* (DS402) The object position actual value provides the momentary actual position in increments. The resolution is defined with Object 608F as power-of-two number (see PRBASE command). Index Name Object code Data type Mode Access PDO mapping Unit Value range Default value EEPROM
CANopen for S300/S700
6063h position actual value VAR INTEGER32 pc, pp rw possible increments (1 turn = 2PRBASE) (-231) ... (231-1) 220 no
73
CANopen Drive Profile 4.8.4.2
05/2012
Kollmorgen
Object 6064h: position actual value (DS402) The object position actual value provides the actual position. The resolution can be altered by the gearing factors of the position controller (Object 6092). Index Name Object code Data type Mode Access PDO mapping Unit Value range Default value EEPROM
4.8.4.3
6064h position actual value VAR INTEGER32 pc, pp rw possible position units (-231) ... (231-1) — no
Object 6065h: Following error window The following error window defines a range of tolerated position values symmetrically to the position demand value. A following error might occur when a drive is blocked, unreachable profile velocity occurs, or at wrong closed loop coefficients. If the value of the following error window is 0, the following control is switched off.
4.8.4.4
Index Name Object code Data type Category
6065h Following error window VAR UNSIGNED32 optional
Access PDO mapping Value range Default value
rw possible UNSIGNED32 1/4 of a motor revolution
Object 6067h: Position window (DS402) The position window defines a symmetrical range of accepted positions relatively to the target position. If the actual value of the position encoder is within the position window, this target position is regarded as reached. The status word bit "Target reached” goes to 1.
74
Index Name Object code Data type Category
6067h Position window VAR UNSIGNED32 optional
Access PDO mapping Value range Default value
rw possible UNSIGNED32 4000 position units
CANopen for S300/S700
Kollmorgen 4.8.4.5
05/2012
CANopen Drive Profile
Object 6068h: Position window time (DS402) When the actual position is within the position window during the defined position window time which is given in multiples of milliseconds, the corresponding bit 10 "target reached" in the statusword will be set to one.
4.8.4.6
Index Name Object code Data type Category
6068h Position window time VAR UNSIGNED16 optional
Access PDO mapping Value range Default value
rw possible UNSIGNED16 no
Object 60F4h: Following error actual value (DS402) This object returns the current value of the following error in units defined by the user. Index Name Object code Data type Category
60F4h Following error actual value VAR Integer32 optional
Access PDO mapping Value range Default value
ro possible INTEGER32 0
CANopen for S300/S700
75
CANopen Drive Profile
Kollmorgen
05/2012
4.9
Interpolated Position Mode (ip) (DS402)
4.9.1
General information The interpolated position mode is implemented in a simple, straightforward way. Single position setpoints have to be transmitted in the interpolation time period and are taken over on every defined SYNC - telegram sent. A linear interpolation is used between the setpoints.
4.9.2
Objects defined in this section Index 60C0h 60C1h 60C2h 60C3h 60C4h
Object VAR ARRAY RECORD ARRAY RECORD
Name Interpolation sub mode select Interpolation data record Interpolation time period Interpolation sync definition Interpolation data configuration record
Type INTEG16ER INTEGER32 Interpolation time period UNSIGNED8 Interpolation data configuration record
4.9.3
Object description
4.9.3.1
Object 60C0h: Interpolation sub mode select
Access rw rw rw rw rw
In the S300/S700 the linear interpolation between position setpoints is supported. The only allowed value is 0.
76
Index Name Object code Data type Category
60C0h Interpolation sub mode select VAR INTEGER16 optional
Access PDO mapping Value range Default value
rw possible 0 0
CANopen for S300/S700
Kollmorgen 4.9.3.2
05/2012
CANopen Drive Profile
Object 60C1h: Interpolation data record In the S300/S700 a single setpoint is supported for the interpolated position mode. For the linear interpolation mode each interpolation data record simply can be regarded as a new position setpoint. After the last item of an interpolation data record is written to the devices input buffer, the pointer of the buffer is automatically incremented to the next buffer position. Index Name Object code Data type Category
60C1h Interpolation data record ARRAY INTEGER32 optional
Subindex Description Data type Category Access PDO mapping Value range Default value
0 number of entries UNSIGNED8 mandatory ro not possible 1 no
Subindex Description Category Access PDO mapping Value range Default value
1 x1the first parameter of ip function fip(x1, .. xN) mandatory rw possible INTEGER32 no
CANopen for S300/S700
77
CANopen Drive Profile 4.9.3.3
Kollmorgen
05/2012
Object 60C2h: Interpolation time period The interpolation time period is used for the PLL (phase locked loop) synchronized position modes. The unit (subindex 1) of the time is given in 10interpolation time index seconds. Only multiples of 1 ms are allowed. The two values define the internal ASCII - parameter PTBASE (given in multiples of 250 Mikroseconds). Both values must be written to fix a new interpolation time period. PTBASE will only be updated then.
4.9.3.4
Index Name Object code Data type Category
60C2h Interpolation time period RECORD Interpolation time period record (0080h) optional
Subindex Description Category Access PDO mapping Value range Default value
0 number of entries mandatory ro not possible 2 2
Subindex Description Category Access PDO mapping Value range Default value
1 Interpolation time units mandatory rw possible UNSIGNED8 1
Subindex Description Category Access PDO mapping Value range Default value
2 Interpolation time index mandatory rw possible -123 ... 63 -3
Object 60C3h: Interpolation sync definition In the S300/S700 the generally used SYNC-object is used for synchronization purposes. Therefore only a fixed value is accepted for subindex 1.
78
Index Name Object code Data type Category
60C3h Interpolation sync definition ARRAY UNSIGNED8 optional
Subindex Description Category Access PDO mapping Value range Default value
0 number of entries mandatory ro not possible 2 1
Subindex Description Category Access PDO mapping Value range Default value
1 Synchronize on group mandatory rw possible UNSIGNED8 0
CANopen for S300/S700
Kollmorgen 4.9.3.5
05/2012
CANopen Drive Profile
Object 60C4h: Interpolation data configuration Only a single position setpoint is supported in the S300/S700. Therefore only the value 1 in Subindex 5 is possible. All other subindices are set to 0. Index Name Object code Data type Category
60C4h Interpolation data configuration RECORD Interpolation data configuration record (0081h) optional
Subindex Description Category Access PDO mapping Value range Default value
0 number of entries mandatory ro not possible 6 6
Subindex Description Category Access PDO mapping Value range Default value
1 Maximum buffer size mandatory ro not possible UNSIGNED32 0
Subindex Description Category Access PDO mapping Value range Default value
2 Actual buffer size mandatory rw possible UNSIGNED32 0
Subindex Description Category Access PDO mapping Value range Default value
3 Buffer organization mandatory rw possible UNSIGND8 0
Subindex Description Category Access PDO mapping Value range Default value
4 Puffer position mandatory rw possible UNSIGNED16 0
Subindex Description Category Access PDO mapping Value range Default value
5 Size of data record mandatory wo possible 1...254 1
Subindex Description Category Access PDO mapping Value range Default value
6 Buffer clear mandatory wo possible UNSIGNED8 0
CANopen for S300/S700
79
CANopen Drive Profile
Kollmorgen
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4.10
Homing Mode (hm) (DS402)
4.10.1
General information This section describes the various parameters which are required to define a homing mode.
4.10.2
Objects that are defined in this section Index 607Ch 6098h 6099h 609Ah
4.10.3
Object VAR VAR ARRAY VAR
Name home offset homing method homing speeds homing acceleration
Type INTEGER32 INTEGER8 UNSIGNED32 UNSIGNED32
Access rw rw rw rw
Objects that are defined in other sections Index 6040h
Object VAR
Name control word
Type INTEGER16
dc (Þ p.55)
6041h
VAR
status word
UNSIGNED16
dc (Þ p.55)
4.10.4
Object Description
4.10.4.1
Object 607Ch: homing offset (DS402)
Section
The reference offset (home offset) is the difference between the zero position for the application and the zero point of the machine. All subsequent absolute motion tasks take account of the reference offset. Index Name Object code Data type Mode Access PDO mapping Unit Value range Default value EEPROM
80
607Ch home offset VAR INTEGER32 hm rw possible user-defined (-231) ... (231-1) 0 yes
CANopen for S300/S700
Kollmorgen 4.10.4.2
05/2012
CANopen Drive Profile
Object 6098h: homing method (DS402) Index Name Object code Data type Mode Access PDO mapping Unit Value range Default value EEPROM
6098h homing method VAR INTEGER8 hm rw possible position units -128 ... 127 0 yes
The following homing methods are supported: Method as per DS402 -128..-4 -3 -2 -1 0 1 2 3..7 8 9..11 12 13..14 15..16 17 18 19..23 24 25..27 28 29..30 31..32 33 34 35 36..127
Brief description: Homing
ASCII command
reserved move to mechanical stop, with zeroing set reference point at present position, allowing for lag/following error homing within a single turn (direction of rotation depends on distance) reserved homing to negative limit switch, with zeroing, negative count direction homing to positive limit switch, with zeroing, positive count direction not supported homing to reference switch, with zeroing, positive count direction not supported homing to reference switch, with zeroing, negative count direction not supported reserved homing to negative limit switch, without zeroing, negative count direction homing to negative limit switch, without zeroing, positive count direction not supported homing to reference switch, without zeroing, positive count direction not supported homing to reference switch, without zeroing, negative count direction not supported reserved homing within a single turn, negative count direction homing within a single turn, positive count direction set reference point at present position reserved
— NREF = 7 NREF = 6 NREF = 5, DREF= 2 — NREF = 2, DREF= 0 NREF = 2, DREF= 1 — NREF = 1, DREF= 1 — NREF = 1, DREF= 0 — — NREF = 4, DREF= 0 NREF = 4, DREF= 1 — NREF = 3, DREF= 1 — NREF = 3, DREF= 0 — — NREF = 5, DREF= 0 NREF = 5, DREF= 1 NREF = 0 —
CANopen for S300/S700
81
CANopen Drive Profile 4.10.4.2.1
05/2012
Kollmorgen
Description of the homing methods Choosing a homing method by writing a value to homing method (Object 6098h) will clearly establish: l
the homing signal (P-Stop, N-Stop, reference switch)
l
the direction of actuation
and where appropriate l
the position of the index pulse.
The reference position is give by the reference offset (Object 607Ch). The manufacturer-specific parameter ENCZERO (Object 3537h, Subindex 01h) can be used to adapt the initial position of the motor for homing to match the index pulse for homing with zeroing. A detailed description of the types of homing movement can be found in the description of the setup software DriveGUI.exe.
4.10.4.3
4.10.4.4
Object 6099h: homing speeds (DS402) Index Name Object code Number of elements Data type
6099h homing speeds ARRAY 2 UNSIGNED32
Subindex Brief description Mode Access PDO mapping Unit Value range EEPROM Default value
1 speed during search for switch hm rw possible velocity units 0 ... (232-1) yes equivalent 60 rpm
Subindex Brief description Mode Access PDO mapping Unit Value range EEPROM Default value
2 speed during search for zero hm rw not possible velocity units 0 ... (232-1) yes 1/8 * Object 6099 sub 1
Object 609Ah: homing acceleration (DS402) Index Name Object code Data type Mode Access PDO mapping Unit Value range Default value EEPROM
82
609Ah homing acceleration VAR UNSIGNED32 hm rw possible acceleration units 0 ... (232-1) 0 yes
CANopen for S300/S700
Kollmorgen 4.10.5
CANopen Drive Profile
05/2012
Homing Mode Sequence The homing movement is started by setting Bit 4 (positive edge). The successful conclusion is indicated by Bit 12 in the status word (see Object 6041h). Bit 13 indicates that an error occurred during the homing movement. In this case, the error code must be evaluated (error register: Objects 1001h, 1003h, manufacturer status: Object1002h). Bit 4 0 0Þ1 1 1Þ0 Bit 13 0 0 1 1
Meaning homing inactive start homing movement homing active interruption of homing movement Bit 12 0 1 0 1
Meaning reference point not set, or homing movement not yet finished reference point set, homing movement finished homing movement could not be successfully concluded (lag error) impermissible state
4.11
Profile Position Mode (pp)
4.11.1
General Information The overall structure for this mode is shown in this figure: Trajectory Generator Parameters
target_position (607A h)
Trajectory Generator
Position Control Law Parameters
position_demand_value (60F2 h)
Position Control Function
control_effort (60FA h)
The special handshake procedure for the control word and status word is described on page 84.
4.11.2
Objects that are defined in this section Index 607Ah 607Dh 607Fh 6080h 6081h 6083h 6084h 6085h 6086h
4.11.3
Object VAR ARRAY VAR VAR VAR VAR VAR VAR VAR
Name target position software position limit max. profile velocity max. motor speed profile velocity profile acceleration profile deceleration quick stop deceleration motion profile type
Type INTEGER32 INTEGER32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 INTEGER16
Access rw rw rw rw rw rw rw rw rw
Objects that are defined in other sections Index 6040h
Object VAR
Name control word
Type INTEGER16
dc (Þ p.55)
6041h
VAR
status word
UNSIGNED16
dc (Þ p.55)
6093h
ARRAY
position factor
UNSIGNED32
fg (Þ p.61)
6094h
ARRAY
velocity encoder factor
UNSIGNED32
fg (Þ p.61)
6097h
ARRAY
acceleration factor
UNSIGNED32
fg (Þ p.61)
CANopen for S300/S700
Section
83
CANopen Drive Profile
05/2012
4.11.4
Object description
4.11.4.1
Object 607Ah: target position (DS402)
Kollmorgen
The object target position defines the target position for the drive. The target position is interpreted as a relative distance or an absolute position, depending on Bit 6 of the control word. The type of relative movement can be further defined by the manufacturer-specific parameter 35B9h Subindex 1. The mechanical resolution is set by the gearing factors Object 6093h Subindex 1 and 2. Index Name Object code Data type Mode Access PDO mapping Unit Value range Default value EEPROM
4.11.4.2
607Ah target position VAR INTEGER32 pp rw possible user-defined -(231-1) ... (231-1) — no
Object 607Dh: Software position limit (DS402) Software position limit contains the sub-parameters min position limit and max position limit. New effective target positions are checked against these limits. The limits are relative to the machine home position, which is build through homing including the home offset (Object 607C). As default the software position limits are switched off. If the values are changed from these default values a special configuration is made in the drive. Therefore the new values have to be saved and the drive has to be restarted to take the software limits into action.
84
Index Name Object code Data type Category
607Dh Software position limit ARRAY INTEGER32 optional
Subindex Description Category Access PDO mapping Value range Default value
0 number of entries mandatory ro not possible 2 2
Subindex Description Category Access PDO mapping Value range Default value
1 min position limit mandatory rw possible INTEGER32 0 (switched off)
Subindex Description Category Access PDO mapping Value range Default value
2 max position limit mandatory rw possible INTEGER32 0 (switched off)
CANopen for S300/S700
Kollmorgen 4.11.4.3
05/2012
CANopen Drive Profile
Object 607Fh: Max profile velocity (DS402) The maximum profile velocity is the maximum allowed speed in either direction during a profiled move. It is given in the same units as profile velocity.
4.11.4.4
Index Name Object code Data type Category
607Fh Max profile velocity VAR UNSIGNED32 optional
Access PDO mapping Value range Default value
rw possible UNSIGNED32 equivalent to the maximum motor speed (Object 6080)
Object 6080h: Max motor speed (DS402) The max motor speed is the maximum allowable speed for the motor in either direction and is given inrpm. This is used to protect the motor and can be taken from the motor data sheet.
4.11.4.5
Index Name Object code Data type Category
6080h Max motor speed VAR UNSIGNED32 optional
Access PDO mapping Value range Default value
rw possible UNSIGNED32 depending on motor
Object 6081h: profile velocity (DS402) The profile velocity is the final velocity that should be reached after the acceleration phase of a motion task. The scaling used depends on the setting of the velocity encoder factor (Object 6094h). The application of the setpoint depends on the operation mode (pp, pv) that is set. Index Name Object code Data type Mode Access PDO mapping Unit Value range Default value EEPROM
CANopen for S300/S700
6081h profile velocity VAR UNSIGNED32 pp, pv rw possible speed units 0 ... (232-1) 10 no
85
CANopen Drive Profile 4.11.4.6
05/2012
Kollmorgen
Object 6083h: profile acceleration (DS402) The acceleration ramp (profile acceleration) is given in units that are defined by the user (position units per s²). They can be transformed with the acceleration factor defined by Object 6097 sub1 & 2. The type of acceleration ramp can be selected as a linear ramp or a sin² ramp (see Object 6086h). Index Name Object code Data type Mode Access PDO mapping Unit Value range Default value
4.11.4.7
6083h profile acceleration VAR UNSIGNED32 pp rw possible acceleration units 0 ... (232-1) 0
Object 6084h: profile deceleration (DS402) The braking/deceleration ramp is handled in the same way as the acceleration ramp (see Object 6083h). Index Name Object code Data type Mode Access PDO mapping Unit Value range Default value
4.11.4.8
6084h profile deceleration VAR UNSIGNED32 pp rw possible acceleration units 0 ... (232-1) 0
Object 6085h: Quick stop deceleration The quick stop deceleration is the deceleration used to stop the motor if the ‘Quick Stop’ command is given. The units are the same as for the profile acceleration ramp and the profile deceleration ramp. Index Name Object code Data type Mode Access PDO mapping Unit Value range Default value
86
6085h Quick stop deceleration VAR UNSIGNED32 pp rw not possible acceleration units 0 ... (232-1) -
CANopen for S300/S700
Kollmorgen 4.11.4.9
05/2012
CANopen Drive Profile
Object 6086h: motion profile type (DS402) The type of acceleration ramp can be selected by this object as a linear or as sin² ramp.
4.11.4.10
Index Name Object code Data type Mode Access PDO mapping Unit Value range Default value EEPROM
6086h motion profile type VAR INTEGER16 pp rw possible none (-215)..(215-1) — yes
profile code -32768 ... -1 0 1 2 ... 32767
profile type manufacturer-specific (not supported) linear (trapezoidal) sin² profile-specific extensions (not supported)
Object 60C5h: Max acceleration To prevent the motor and the application from being destroyed, the max acceleration can be used to limit the acceleration to an acceptable value.The max acceleration is given in user defined acceleration units (608Dh, 608Eh). It is converted to position increments per s² using the acceleration factor (6097h). Index Name Object code Data type Category
60C5h Max acceleration VAR UNSIGNED32 optional
Access PDO mapping Value range Default value
rw possible UNSIGNED32 no
CANopen for S300/S700
87
CANopen Drive Profile 4.11.5
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05/2012
Functional Description Two different ways to apply target positions to a drive are supported by this device profile. Set of setpoints: After reaching the target_position, the drive device immediately processes the next target position, which results in a move where the velocity of the drive normally is not reduced to zero after achieving a setpoint. With S300/S700, this is only possible if trapezoidal ramps are used. Single setpoints: After reaching the target_position, the drive device signals this status to a host computer and then receives a new setpoint. After reaching a target_position, the velocity is normally reduced to zero before starting a move to the next setpoint. The two modes are controlled by the timing of the bits for new_setpoint and change_set_immediately in the control word, and setpoint_acknowledge in the status word. These bits allow the setting up of a request-response mechanism in order to prepare a set of setpoints while another set is still being processed in the drive unit. This minimizes reaction times within a control program on a host computer. data
new_setpoint (2)
(4)
(6) change_set_immediately (1) setpoint_acknowledge (3)
(5)
The figures show the difference between the set_of_setpoints mode and the single setpoint mode. The initial status of the bit change_set_immediately in the control word determines which mode is used. To keep these examples simple, only trapezoidal moves are used.
88
CANopen for S300/S700
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CANopen Drive Profile
05/2012
If the bit change_set_immediately is "0” a single setpoint is expected by the drive (1). After data is applied to the drive, a host signals that the data is valid by changing the bit new_setpoint to "1" in the control word (2). The drive responds with setpoint_acknowledge set to "1" in the status word (3) after it has recognized and buffered the new valid data. Now the host can release new_setpoint (4) and subsequently the drive will signal through setpoint_acknowledge = "0" its ability to accept new data again (5). In the figure below this mechanism results in a velocity of zero after ramping down to reach a target_position X1 at t1. After signaling to the host, that the setpoint has been reached as described above, the next target_position is processed at t2 and reached at t3. velocity v2 v1
t0
t1
t2
t3
time
With change_set_immediately set to "1" (6), the host instructs the drive to apply a new setpoint immediately after reaching the previous one. The relative timing of the other signals is unchanged. This behavior causes the drive to process the next setpoint X2 in advance, and to hold its velocity when it reaches the target_position X1 at t1. The drive then moves immediately to the next target_position X2 that has already been calculated. velocity v2 v1
t0
Bits in the control word: Bit 4 new_set_point (positive edge!) Bit 5 change_set_immediately Bit 6 absolute/relative
t2
t1
time
Bits in the status word: Bit 12 setpoint acknowledge Bit 13 lag/following error
Notes on motion task type relative: If Bit 6 is set, then the motion task type is relative, and activated according to the last target position or actual position. If other types of relative motion are required, these must be activated in advance through the ASCII-object O_C (Object 35B9 sub 1). Notes on profile position mode: Functional description for the profile position mode The drive profile DS402 distinguishes between two methods of moving to a target position. These two methods are controlled by the bits for new_setpoint and change_set_immediately in the control word, and setpoint_acknowledge in the status word. These bits can be used to prepare a motion task while another is still being carried out (handshake). l
Moving to several target positions without an intermediate halt After the target position has been reached, the drive moves immediately to the next target position. This requires that new setpoints are signaled to the drive. This is done through a positive transition of the new_setpoint bit. In this case, the setpoint_acknowledge bit must not be active (=1) in the status word (see also Handshake DS402). The velocity is not reduced to zero when the first setpoint is reached.
l
Moving to a single target position The drive moves to the target position, whereby the velocity is reduced to zero. Reaching the target position is signaled by the bit for target_reached in the status word.
CANopen for S300/S700
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5
Appendix
5.1
The Object Channel
5.1.1
Objects >3500h Manufacturer specific object channel
Appendix
The Object Dictionary has been expanded beyond Index 3500h (reserved object range 3500h ... 3900h) for all Device Objects that can be described in up to 4 bytes of user data. This range can be dynamically extended, i.e. if extensions are made, new device parameters that fulfil the above-mentioned format are automatically added to the table for the core firmware. Object 3500h (Subindex 01h, read) can be used to show the total number of objects in the Object Channel (Þ p.99). The objects in the Object Channel (ASCII parameters) cannot be mapped in a PDO! Each object in this range is described with the aid of 8 Sub-indices. The structure is built up as follows: Index Name Object code Data type
> 3500h Object-dependent VAR RECORD
Subindex Description Unit Access PDO mapping Data type Value range EEPROM Default value
0 number of entries — — not possible UNSIGNED8 0 ... 28-1 — —
Subindex Description Unit Access PDO mapping Data type Value range EEPROM Default value
1 read/write a parameter see corresponding ASCII command see corresponding ASCII command not possible see corresponding ASCII command, transmission always as INTEGER32 see corresponding ASCII command see Subindex 4 see corresponding ASCII command
Subindex Description Unit Access PDO mapping Data type Value range EEPROM Default value
2 read lower limit value see corresponding ASCII command ro not possible see corresponding ASCII command see corresponding ASCII command — —
Subindex Description Unit Access PDO mapping Data type Value range EEPROM Default value
3 read upper limit value see corresponding ASCII command ro not possible see corresponding ASCII command see corresponding ASCII command — —
CANopen for S300/S700
91
Appendix
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05/2012
Subindex Description Unit Access PDO mapping Data type Value range EEPROM Default value
4 read the default value see corresponding ASCII command ro not possible see corresponding ASCII command see corresponding ASCII command — —
Subindex Description Unit Access PDO mapping Data type Value range EEPROM Default value
5 read the parameter format — ro not possible see corresponding ASCII command see corresponding ASCII command — —
Description: Possible parameter formats: 0 1 2 3 4 5 6
Function (no parameter) Function (INTEGER32 parameter) Function (INTEGER32 parameter with weighting 3) INTEGER8 UNSIGNED8 INTEGER16 UNSIGNED16
7 8 9 10 11 12 13
INTEGER32 UNSIGNED32 INTEGER32 (weighting 3) INTEGER32 (weighting 3) UNSIGNED32 UNSIGNED16
Parameters with format 0 are read-only!
Subindex Description Unit Access PDO mapping Data type Value range EEPROM Default value
6 read the parameter check data — ro not possible UNSIGNED32 0 ... 232-1 — —
Description: 0x00010000 After an alteration the variable must be saved and the controller must be reset. 0x00020000 Variable is saved in the serial EEPROM. 0x00200000 Variable is read-only, must not be written to over the bus. Subindex Description Unit Access PDO mapping Data type Value range EEPROM Default value
92
7/8 reserved — ro not possible UNSIGNED32 0 ... 232-1 — —
CANopen for S300/S700
Kollmorgen 5.1.2
Appendix
05/2012
ASCII command reference MLC=Multi-line return Command
CAN Object number
ASCII Command
3501 (hex) 3502 (hex) 3503 (hex) 3504 (hex) 3505 (hex) 3506 (hex) 3507 (hex) 3508 (hex) 3509 (hex) 350A (hex) 350B (hex) 350C (hex) 350F (hex) 3510 (hex) 3511 (hex) 3512 (hex) 3513 (hex) 3514 (hex) 3515 (hex) 3518 (hex) 3519 (hex) 351A (hex) 351B (hex) 351D (hex) 351E (hex) 351F (hex) 3522 (hex) 3523 (hex) 3524 (hex) 3525 (hex) 3527 (hex) 3528 (hex) 3529 (hex) 352B (hex) 352C (hex) 352D (hex) 352E (hex) 352F (hex) 3530 (hex) 3533 (hex) 3534 (hex) 3535 (hex) 3537 (hex) 3538 (hex) 3539 (hex) 353A (hex) 353B (hex) 353C (hex) 353E (hex) 353F (hex) 3540 (hex) 3541 (hex) 3542 (hex) 3545 (hex) 3548 (hex) 354B (hex)
ACCR ACTFAULT ACTIVE ADDR AENA ANCNFG ANDB ANIN1 ANIN2 ANOFF1 ANOFF2 ANZERO1 ANZERO2 AVZ1 CALCHP CALCRK CALCRP CBAUD CLRFAULT CLRHR CLRORDER CLRWARN CONTINUE CTUNE CUPDATE DEC DECDIS DECR DECSTOP DICONT DIFVAR DIPEAK DIS DREF DRVSTAT DR_TYPE DUMP EN ENCLINES ENCMODE ENCOUT ENCZERO EXTMUL EXTPOS EXTWD FBTYPE FILTMODE GEARI GEARMODE GEARO GET GP GPFFV GV GVFR
CANopen for S300/S700
ACC
ASCII Type
Description
Variable rw Acceleration Ramp Variable rw Variable rw Variable ro Variable ro Variable rw Variable rw Variable rw Variable ro Variable ro Variable rw Variable rw Command Command Variable rw Command Command Command Variable rw Command Command Command Variable rw Command Command Command Variable rw Variable rw Variable rw Variable rw Variable ro MLC Variable ro Command Variable rw Variable ro Variable ro MLC Command Variable rw Variable rw Variable rw Variable rw Variable rw Variable rw Variable rw Variable rw Variable rw Variable rw Variable rw Variable rw Command Variable rw Variable rw Variable rw Variable rw
Acceleration Ramp for homing/jog modes Active Fault Mode Output stage active/inhibited Multidrop Address Software Auto-Enable Configuration of Analog Input Dead Band of the Analog Velocity Input Signal Voltage at Analog Input 1 Voltage at Analog Input 2 Analog Offset for analog input 1 Analog Offset for analog input 2 Zero Analog Input 1 Zero Analog Input SW2 Filter Time Constant for analog input 1 Determining the Hiperface Parameters Calculate resolver parameters Calculate resolver phase Baud Rate CAN Bus Clear Drive Fault Bit 5 of status register STAT is cleared Deleting a Motion Task Warning mode Continue last position order Calculate current parameters Program Update (CAN Bus) Deceleration Rate Deceleration used on Disable Output Stage Deceleration Ramp for homing/jog modes Quick Stop, braking ramp for emergency situations Drive Continuous Current List Variables with Values Drive Peak Rated Current Software-Disable Direction for Homing internal Status information Gives the Output Stage Indentification List All EEPROM Variables with Values Software-Enable SinCos Encoder Resolution Selection of Encoder Emulation Resolution Encoder Emulation EEO (ROD) Zero Pulse Offset EEO (ROD) ext. Encoder multiplier Position Value For Position Control External Watch Dog (Fieldbus) Selection of commutation feedback Smith Predictor Input Factor for Electronic Gearing Position Input Electronic Gearing Mode Output Factor for Electronic Gearing Scope: output data Position Control Loop: Proportional Gain Position Control Loop: Feed Forward for Velocity Velocity Control Loop: Proportional Gain PI-PLUS Actual Velocity Feedforward
93
Appendix CAN Object number 354D (hex) 3551 (hex) 3552 (hex) 3553 (hex) 3554 (hex) 3556 (hex) 3557 (hex) 3558 (hex) 355A (hex) 355B (hex) 355D (hex) 355E (hex) 3560 (hex) 3561 (hex) 3561 (hex) 3562 (hex) 3562 (hex) 3563 (hex) 3563 (hex) 3564 (hex) 3565 (hex) 3566 (hex) 3567 (hex) 3568 (hex) 3569 (hex) 356A (hex) 356B (hex) 356C (hex) 356D (hex) 356E (hex) 3570 (hex) 3571 (hex) 3572 (hex) 3573 (hex) 3574 (hex) 3575 (hex) 3577 (hex) 3578 (hex) 3579 (hex) 357A (hex) 357B (hex) 357C (hex) 357D (hex) 357E (hex) 357F (hex) 3580 (hex) 3581 (hex) 3582 (hex) 3583 (hex) 3584 (hex) 3585 (hex) 3586 (hex) 3587 (hex) 3588 (hex) 3589 (hex) 358A (hex) 358C (hex) 358D (hex) 358E (hex) 358F (hex)
94
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ASCII Type
GVTN HDUMP HICOFFS HIFACT1 HISOFFS HSAVE HVER I I2TLIM ICMD ID IDUMP IN IN1 IN5_20 IN1MODE IN5_20MODE IN1TRIG IN5_20TRIG IN2 IN2MODE IN2TRIG IN3 IN3MODE IN3TRIG IN4 IN4MODE IN4TRIG INPOS IPEAK IQ ISCALE1 ISCALE2 K KC KEYLOCK ML LATCH2P16 LATCH2N16 LATCH2P32 LATCH2N32 LATCH1P32 LATCH1N32 LED1 LED2 LED3 LEDSTAT LIST LOAD MAXTEMPE MAXTEMPH MAXTEMPM MBRAKE MDBCNT MDBGET MDBSET VLIM MH MICONT MIPEAK
Variable rw MLC Variable rw Variable rw Variable rw Command Variable ro Variable ro Variable rw Variable ro Variable ro MLC MLC Variable ro Variable ro Variable rw Variable rw Variable rw Variable rw Variable ro Variable rw Variable rw Variable ro Variable rw Variable rw Variable ro Variable rw Variable rw Variable ro Variable rw Variable ro Variable rw Variable rw Command Variable rw Variable rw Variable rw Variable rw Variable rw Variable rw Variable rw Variable rw Variable rw Variable rw Variable rw Variable rw Variable rw MLC Command Variable rw Variable rw Variable rw Variable rw Variable ro Command Command Variable rw Command Variable rw Variable rw
Description Velocity Control Loop: I-Integration Time Output all sin/cos (Hiperface) variables Hiperface: Cosine-Offset (incremental track) Hiperface: Sin/Cos Gain Factor (incremental track) Hiperface: Sin/Cos Offset (incremental track) Hiperface: Save Parameters in Encoder Output the Hardware Version Current Monitor I2T Warning Current Setpoint D-component of Current Monitor Output Current Limit List List Analog Voltage Values Status of Digital Input 1 Status of digital inputs 5 ...20 Function of Digital Input 1 Function of digital inputs 5 ...20 Variable for IN1MODE Variable for digital inputs 5 ...20 Status of Digital Input 2 Function of Digital Input 2 Variable for IN2MODE Status of Digital Input 3 Function of Digital Input 3 Variable for IN3MODE Status of Digital Input 4. Function of Digital Input 4 Variable for IN4MODE Status of In-Position Signal Application Peak Current Q-Component of Current Monitor Scaling of Analog Current Setpoint 1 Scaling of Analog Current Setpoint 2 Kill (=Disable) I-Controller Prediction Constant Locks the push buttons Stator Inductance of the Motor Latched 16-bit Position (positive edge) Latched 16-bit Position (negative edge) Latched 32-bit Position (positive edge) Latched 32-bit Position (negative edge) Latched 32-bit Position (positive edge) Latched 32-bit Position (negative edge) State of Display 1 Segment State of Display 2 Segment State of Display 3 Segment Display page List All ASCII Commands Load parameters from serial EEPROM Ambient Temperature Switch off Threshold Heat Sink Temperature Switch off Threshold Motor Temperature Switch off Threshold Select Motor Holding Brake Number of Motor Data Sets Get Actual Motor Data Set Set Actual Motor Data Set Max. Velocity Start Homing Motor Continuous Current Rating Motor Peak Current Rating
CANopen for S300/S700
Kollmorgen
Appendix
05/2012 CAN
ASCII Command
Object number 3591 (hex) 3592 (hex) 3593 (hex)
MJOG MVANGLP MKT
3595 (hex)
MLGC
3596 (hex)
MLGD
3597 (hex)
MLGP
3598 (hex) 3599 (hex) 359C (hex) 359D (hex) 35A0 (hex) 35A1 (hex) 35A2 (hex) 35A3 (hex) 35A5 (hex) 35A6 (hex) 35A7 (hex) 35A8 (hex) 35A9 (hex) 35AA (hex) 35AD (hex) 35AE (hex) 35AE (hex) 35AF (hex) 35AF (hex) 35B0 (hex) 35B0 (hex) 35B1 (hex) 35B2 (hex) 35B3 (hex) 35B4 (hex) 35B5 (hex) 35B6 (hex) 35B7 (hex) 35B9 (hex) 35BA (hex) 35BC (hex) 35BD (hex) 35BE (hex) 35BF (hex) 35C0 (hex) 35C1 (hex) 35C2 (hex) 35C3 (hex) 35C5 (hex) 35C6 (hex) 35C7 (hex) 35C8 (hex) 35C9 (hex) 35CA (hex) 35CB (hex) 35CC (hex) 35CD (hex) 35CE (hex) 35CF (hex) 35D0 (hex) 35D1 (hex) 35D2 (hex)
MLGQ MNUMBER MPHASE MPOLES MRESBW MRESPOLES MSG MSPEED MTANGLP MTYPE MVANGLB MVANGLF M_RESET NONBTB NREF O1 O3_18 O1MODE O3_18MODE O1TRIG O3_18TRIG O2 O2MODE O2TRIG OPMODE OPTION OVRIDE O_ACC O_C O_DEC O_FN O_FT O_P O_V PBAL PBALMAX PBALRES PBAUD PE PEINPOS PEMAX PFB PFB0 PGEARI PGEARO PIOBUF PMODE PNOID POSCNFG PPOTYP PRBASE PRD
CANopen for S300/S700
ASCII Type
Description
Command Start Jog Mode Variable rw Velocity-dependent Lead (Commutation Angle) Variable rw Motor KT Current Control loop Adaptive Gain (Q-component at rated Variable rw current) Variable rw Adaptive Gain for Current Control loop, D-component Current Control loop Adaptive Gain (Q-component at peak Variable rw current) Variable rw Absolute Gain of Current Control loop Variable rw Motor Number Variable rw Motor Phase, Feedback Offset Variable rw Number of Motor Poles Variable rw Resolver Bandwidth Variable rw Number of Resolver Poles (Multispeed) Variable rw Enable / Disable All Messages via RS232 Variable rw Maximum Rated Motor Velocity Variable rw Current Lead Variable rw Motor Type Variable rw Velocity-dependent Lead (Start Phi) Variable rw Velocity-dependent Lead (Limit Phi) Command Recompile Macro Programs Variable rw Mains-BTB Check On/Off Variable rw Homing Mode Variable rw State of Digital Output 1 Variable rw State of Digital Output 1 Variable rw Function of Digital Output 1 Variable rw Function of Digital Output 1 Variable rw Auxiliary Variable for O1MODE Variable rw Auxiliary Variable for O1MODE Variable rw State of Digital Output 2 Variable rw Function of Digital Output 2 Variable rw Auxiliary Variable for O2MODE Variable rw Operating Mode Variable ro Option Slot ID Variable rw Override Function for Motion Tasks Variable rw Acceleration Time 1 for Motion Task 0 Variable rw Control Variable for Motion Task 0 Variable rw Braking Time 1 for Motion Task 0 Variable rw Next Task Number for Motion Task 0 Variable rw Delay before Next Motion Task Variable rw Target Position/Path for Motion Task 0 Variable rw Target Speed for Motion Task 0 Variable ro Actual Regen Power Variable rw Maximum Regen Power Variable rw Select Regen Resistor Variable ro Profibus Baud Rate Variable ro Actual Following Error Variable rw In-Position Window Variable rw Max. Following Error Variable ro Actual Position from Feedback Device Variable ro Position from External Encoder Variable rw Position Resolution (Numerator) Variable rw Position Resolution (Denominator) Variable rw Profibus data Variable rw Line Phase Mode Variable ro PROFIBUS ID Variable rw Axes Type Variable rw Profibus PPO Type Variable rw Position Resolution Variable ro 20-bit Position Feedback
95
Appendix CAN Object number 35D3 (hex) 35D4 (hex) 35D6 (hex) 35D7 (hex) 35D8 (hex) 35D9 (hex) 35DB (hex) 35DD (hex) 35DE (hex) 35DF (hex) 35E0 (hex) 35E1 (hex) 35E2 (hex) 35E4 (hex) 35E5 (hex) 35E6 (hex) 35E7 (hex) 35E8 (hex) 35E9 (hex) 35EA (hex) 35EB (hex) 35EC (hex) 35ED (hex) 35EF (hex) 35F0 (hex) 35F2 (hex) 35F3 (hex) 35F4 (hex) 35FA (hex) 35FA (hex) 35FB (hex) 35FC (hex) 35FD (hex) 35FE (hex) 35FF (hex) 3600 (hex) 3604 (hex) 3606 (hex) 360E (hex) 360F (hex) 3610 (hex) 3611 (hex) 3612 (hex) 3613 (hex) 3614 (hex) 3617 (hex) 3618 (hex) 361A (hex) 361B (hex) 361C (hex) 361D (hex) 361E (hex) 3620 (hex) 3621 (hex) 3622 (hex) 3623 (hex) 3626 (hex) 3627 (hex) 3628 (hex) 3629 (hex)
96
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ASCII Type
PROMPT PSTATE PTMIN PV PVMAX PVMAXN PVMAXP READY RECDONE RECING RECOFF RECRDY REFIP REMOTE RESPHASE RK ROFFS RS232T RSTVAR S SAVE SBAUD SCAN SERIALNO SETREF SLEN SLOTIO SPHAS SSTAT DUMPSLNO STAT STATIO STATUS STOP STOPMODE SWCNFG SWE1 SWE2 T TASK TEMPE TEMPH TEMPM TRJSTAT TRUN UVLTMODE V VBUS VBUSBAL VBUSMAX VBUSMIN VCMD VEL0 VJOG VLIMP VLIMN VMUL VOSPD VREF VSCALE1
Variable rw Variable ro Variable rw Variable ro Variable rw Variable rw Variable rw Variable ro Variable ro Variable ro Command Variable ro Variable rw Variable ro Variable rw Variable rw Variable rw Variable rw Command Command Command Variable rw Command Variable ro Command Variable rw Variable rw Variable rw Variable ro Variable rw Variable ro Variable ro Variable ro Command Variable rw Variable rw Variable rw Variable rw Command Variable ro Variable ro Variable ro Variable ro Variable ro Variable ro Variable rw Variable ro Variable ro Variable rw Variable ro Variable rw Variable ro Variable rw Variable rw Variable rw Variable rw Variable rw Variable rw Variable rw Variable rw
Description Select RS232 Protocol Profibus Status Min. Acceleration Ramp for Motion Tasks Actual Velocity (Position Control Loop) Max. Velocity for Position Control Max. (Negative) Velocity for Position Control Max. Velocity for Position Control Status of the Software Enable Scope: Recording Done Scope: Recording in Progress Scope: Cancel Scope Recording Scope: Status of RECORD Function Peak Rated Current for Homing 7 Status of the Hardware Enable Resolver Phase Gain Adjust for Resolver Sine Signal Reference Offset RS232 Watch Dog Restore Variables (Default Values) Stop Motor and Disable Drive Save Data in EEPROM Sercos: Baud Rate Detect CAN Stations Drive Serial Number Set Reference Point Sercos Optical Range I/O-Expansion Card: I/O States Sercos Phase Listing of the numerical EEProm-parameters Drive Status Word I/O Status Detailed Amplifier Status Stop Motion Task Brake Response for Disable Configuration of software limit switches SW limit switch (smalest position) SW limit switch (biggest position) Digital Current Setpoint Task Workload Ambient Temperature Heat Sink Temperature Motor Temperature Status2 Information Run-time counter Undervoltage Mode Actual Velocity DC-bus voltage Maximum Line Voltage Maximum DC-bus Voltage Minimum DC-bus Voltage Internal Velocity Setpoint in RPM Standstill Threshold Speed for Jog Mode Max. Velocity Max. Negative Velocity Velocity Scale Factor Overspeed Speed for Homing SW1 Velocity Scaling Factor
CANopen for S300/S700
Kollmorgen
Appendix
05/2012 CAN Object number 362A (hex) 362B (hex) 362C (hex) 362D (hex) 362F (hex) 3630 (hex) 3632 (hex) 3636 (hex) 3637 (hex) 3638 (hex) 363A (hex) 363C (hex) 363D (hex) 363E (hex) 363F (hex) 3640 (hex) 3641 (hex) 3642 (hex) 3643 (hex) 3644 (hex) 3645 (hex) 3646 (hex) 3647 (hex) 3648 (hex) 3649 (hex) 364A (hex) 364B (hex) 364C (hex) 364D (hex) 364E (hex) 364F (hex) 3650 (hex) 3651 (hex) 3652 (hex) 3653 (hex) 3654 (hex) 3655 (hex) 3656 (hex) 3657 (hex) 3658 (hex) 3659 (hex) 365A (hex) 365B (hex) 365D (hex) 365F (hex) 3660 (hex) 366E (hex) 366F (hex) 3670 (hex) 3671 (hex) 3672 (hex) 3673 (hex) 3675 (hex) 367F (hex) 3680 (hex) 3681 (hex) 3682 (hex) 3683 (hex) 3686 (hex) 3691 (hex)
CANopen for S300/S700
ASCII Command
ASCII Type
VSCALE2 \ DILIM DENA KTN INPT0 COLDSTART WPOS SRND ERND BCC REFMODE VLO WMASK WPOSE WPOSP WPOSX MOVE POSRSTAT P1 P2 P3 P4 P5 P6 P7 P8 P9 P10 P11 P12 P13 P14 P15 P16 PTARGET ACTRS232 ROFFSABS FW DPRILIMIT ACCUNIT VCOMM MTMUX REFLS VUNIT PUNIT TBRAKE TBRAKE0 CMDDLY MSLBRAKE DRVCNFG DISDPR ESPEED LATCH1P16 LATCH1N16 EXTLATCH STAGECODE SYNCSRC MRS SERCSET
Variable rw Command Variable rw Variable rw Variable rw Variable rw Command Variable ro Variable rw Variable rw Variable ro Variable rw Variable rw Variable rw Variable ro Variable rw Variable rw Command Variable rw
Variable rw Variable rw Variable rw Variable ro Variable rw Variable rw Variable rw Variable rw Variable rw Variable rw Variable rw Variable rw Variable rw Variable rw Variable rw Variable rw Variable rw Variable r Variable rw Variable rw Variable rw Variable r Variable rw Variable rw Variable rw
Description SW2 Velocity Scaling Factor Selection of Remote Address DPR current limit DPR software disable reset mode Current Controller Integral-Action Time In-Position Delay Drive Reset Enable Position Registers Start Position of Modulo Axes End position of modulo axes EEPROM check sum Source of the Zero Pulse in Homing Mode Software Resolver/Digital Converter Feedforward Warning as Fault Mask Enable Fast Position Registers 1 ... 16 Polarity of Fast Position Registers 1 ... 16 Mode of Fast Position Registers 1 ... 16 Start Motion Task Status of Fast Position Registers 1 ... 16 Fast Position Register Fast Position Register Fast Position Register Fast Position Register Fast Position Register Fast Position Register Fast Position Register Fast Position Register Fast Position Register Fast Position Register Fast Position Register Fast Position Register Fast Position Register Fast Position Register Fast Position Register Fast Position Register Last Target Position Activate RS232 Watchdog Reference Offset Displays the Version Number of the Firmware Digital Limiting of the peak Current via DPR Type of acceleration setpoint for the system Velocity Threshold for Commutation error Presetting for motion task that is processed later Systemwide Definition of Velocity / Speed Set Resolution of the Position Disable Delaytime with Holding Brake Enable Delaytime with Holding Brake Command Delay Time for RS232 DEC ramp at sensorless emergency stop Configuration Variable for CAN-Bus Disable DPR access Maximum velocity corresponding to the Feedback Type Latched 16-bit Position (positive edge) Latched 16-bit Position (negative edge) Selection of the Source of the Latch Inputs Power Stage Identification Winding Resistance of the Stator Phase-Phase Set Sercos Settings
97
Appendix CAN Object number 3695 (hex) 3698 (hex) 3699 (hex) 369A (hex) 36A3 (hex) 36A5 (hex) 36B6 (hex) 36BE (hex) 36BF (hex) 36C0 (hex) 36C1 (hex) 36C2 (hex) 36C3 (hex) 36C4 (hex) 36C5 (hex) 36C6 (hex) 36C7 (hex) 36C8 (hex) 36C9 (hex) 36CA (hex) 36CB (hex) 36CE (hex) 36D0 (hex) 36D1 (hex) 36D2 (hex) 36D7 (hex) 36D8 (hex) 36E4 (hex) 36E5 (hex) 36E6 (hex) 36E7 (hex) 36E8 (hex) 36E9 (hex) 36EA (hex) 3890 (hex) 3891 (hex) 3892 (hex) —
98
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ASCII Type
SMNUMBER VREF0 AN11NR AN11RANGE MSERIALNO VSTFR DOVRIDE INS0 INS1 INS2 INS3 INS4 INS5 INS6 INS7 INS8 OS1 OS2 OS3 OS4 OS5 LASTWMASK WSTIME WSAMPL NREFMT AUTOHOME PASSCNFG DRVCNFG2 BUSP1 BUSP2 BUSP3 BUSP4 BUSP5 BUSP6 CSSTAT CSIOSTAT CSERR CSENID
Variable r Variable rw Variable rw Variable rw Variable rw Variable rw Variable rw Variable ro Variable ro Variable ro Variable ro Variable ro Variable ro Variable ro Variable ro Variable ro Variable rw Variable rw Variable rw Variable rw Variable rw Variable ro Variable rw Variable rw Variable rw Variable rw Variable rw Variable rw Variable rw Variable rw Variable rw Variable rw Variable rw Variable rw Variable ro Variable ro Variable ro Variable rw
Description Stored Motor Number in the feedback Device Homing Mode Reduction factor No. Of INxTRIG variable, that is changed analog Range of the analog change of INxTRIG Serial no of the motor for encoder feedback Velocity for max. Friction Compensation Digital Override Factor State of Input A0 of the I/O Option Card State of Input A1 of the I/O Option Card State of Input A2 of the I/O Option Card State of Input A3 of the I/O Option Card State of Input A4 of the I/O Option Card State of Input A5 of the I/O Option Card State of Input A6 of the I/O Option Card State of Input A7 of the I/O Option Card State of FSTART_IO of the I/O Option Card Set/Reset of "Posreg1" of the I/O Option Card Set/Reset of ”Posreg2" of the I/O Option Card Set/Reset of "Posreg3" of the I/O Option Card Set/Reset of ”Posreg4" of the I/O Option Card Set/Reset of "Posreg5" of the I/O Option Card Fault history of WMASK Action Time of the W&S - Funktion Minimum Move of W&S Mode Homing wih following motion task Password Function Additional drive functions State of the Modbus+ Network Number of Data Words (Command) at Modbus+ Address selection of Modbus+ Number of Data Words (Command) at Modbus+ Number of Data Words (Command) at Modbus+ Number of Actual Value Data Words via Modbus Status (see SDO 2401h, p. 105) Status (see SDO 2402h, p. 106) Status (see SDO 2403h, p. 107) 1 = activates reactive current component
CANopen for S300/S700
Kollmorgen 5.1.3
Appendix
05/2012
Object Dictionary The following table describes the Dictionary (i.p. = in preparation).
Index 1000h 1001h 1002h 1003h 1005h 1006h 1008h 1009h 100Ah 100Ch 100Dh 1010h 1011h 1014h 1016h 1017h
1018h
1026h
1400h
1401h
1402h
1403h
SubIndex
Data Type
Access
PDO Description mapp.
ASCII object
0
UNSIGNED32
ro
—
Device type
—
0 0
UNSIGNED8 UNSIGNED32 ARRAY UNSIGNED8 UNSIGNED32 UNSIGNED32 UNSIGNED32 Visible String Visible String Visible String UNSIGNED16 UNSIGNED8 UNSIGNED8 UNSIGNED32 UNSIGNED8 UNSIGNED32 UNSIGNED32 RECORD UNSIGNED8 UNSIGNED32 UNSIGNED16 RECORD UNSIGNED8 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 ARRAY UNSIGNED8 UNSIGNED8 UNSIGNED8 RECORD UNSIGNED8 UNSIGNED32 UNSIGNED8 RECORD UNSIGNED8 UNSIGNED32 UNSIGNED8 RECORD UNSIGNED8 UNSIGNED32 UNSIGNED8 RECORD UNSIGNED8 UNSIGNED32 UNSIGNED8 RECORD UNSIGNED8 UNSIGNED32 RECORD UNSIGNED8 UNSIGNED32
ro ro
— yes
rw ro rw rw const const const rw rw ro rw ro rw rw
— — — No — — — — — — — — — —
— — — — — — — — — — — — — SAVE — RSTVAR —
ro rw rw
— — —
ro ro ro ro ro
— — — — —
ro w ro
— — —
ro rw rw
— — —
ro rw rw
— — —
ro rw rw
— — —
ro rw rw
— — —
ro rw
— —
ro rw
— —
Error register Manufacturer—specific status register Pre—defined error field Number of errors standard error field COB—ID SYNC message Communication cycle period Manufacturer device name Manufacturer hardware version Manufacturer software version Guard time Lifetime factor Number of entries Save all parameters Number of entries Restore all default parameters COB—ID for the Emergency Object Consumer heartbeat time Number of entries Consumer heartbeat time Producer heartbeat time Identity Object Number of entries Vendor ID Product Code Revision number Serial number OS prompt Number of entries StdIn StdOut RXPDO1 communication parameter Number of entries RXPDO1 COB — ID Transmission type RXPDO1 RXPDO2 communication parameter Number of entries RXPDO2 COB — ID Transmission type RXPDO2 RXPDO3 communication parameter Number of entries RXPDO3 COB — ID Transmission type RXPDO3 RXPDO4 communication parameter Number of entries RXPDO4 COB — ID Transmission type RXPDO4 RXPDO1 mapping parameter Number of entries Mapping for n—th application object RXPDO2 mapping parameter Number of entries Mapping for n—th application object
0 1...8 0 0 0 0 0 0 0 0 1 0 1 0 0 1 0 0 1 2 3 4 0 1 2 0 1 2 0 1 2 0 1 2 0 1 2
1600h
0 1...8
1601h
0 1...8
CANopen for S300/S700
— — — — — — — — SERIALNO — — — — — — — — — — — — — — — — — — — — — — — — — —
99
Appendix Index
SubIndex
1602h
0 1...8
1603h
0 1...8
1800h
1801h
1802h
1803h
0 1 2 3 4 5 0 1 2 3 4 5 0 1 2 3 4 5 0 1 2 3 4 5
1A00h
0 1...8
1A01h
0 1...8
1A02h
0 1...8
1A03h
0 1...8 0 0 1 2 0 1 2 0 1 2 0 1 2
2000h 2014h
2015h
2016h
2017h
100
Kollmorgen
05/2012
Data Type RECORD UNSIGNED8 UNSIGNED32 RECORD UNSIGNED8 UNSIGNED32 RECORD UNSIGNED8 UNSIGNED32 UNSIGNED8 UNSIGNED16 UNSIGNED8 UNSIGNED16 RECORD UNSIGNED8 UNSIGNED32 UNSIGNED8 UNSIGNED16 UNSIGNED8 UNSIGNED16 RECORD UNSIGNED8 UNSIGNED32 UNSIGNED8 UNSIGNED16 UNSIGNED8 UNSIGNED16 RECORD UNSIGNED8 UNSIGNED32 UNSIGNED8 UNSIGNED16 UNSIGNED8 UNSIGNED16 RECORD UNSIGNED8 UNSIGNED32 RECORD UNSIGNED8 UNSIGNED32 RECORD UNSIGNED8 UNSIGNED32 RECORD UNSIGNED8 UNSIGNED32 UNSIGNED32 ARRAY UNSIGNED32 UNSIGNED32 ARRAY UNSIGNED32 UNSIGNED32 ARRAY UNSIGNED32 UNSIGNED32 ARRAY UNSIGNED32 UNSIGNED32
Access
ro rw ro rw ro rw rw rw const rw ro rw rw rw const rw ro rw rw rw const rw ro rw rw rw const rw ro rw ro rw ro rw ro rw ro ro rw rw ro rw rw ro rw rw ro rw rw
PDO Description mapp. RXPDO3 mapping parameter — Number of entries — Mapping for n—th application object RXPDO4 mapping parameter — Number of entries — Mapping for n—th application object TXPDO1 communication parameter — Number of entries — TXPDO1 COB—ID — Transmission type TXPDO1 — Inhibit time — reserved — event timer TXPDO2 communication parameter — Number of entries — TXPDO2 COB—ID — Transmission type TXPDO2 — Inhibit time — reserved — event timer TXPDO3 communication parameter — Number of entries — TXPDO3 COB—ID — Transmission type TXPDO3 — Inhibit time — reserved — event timer TXPDO4 communication parameter — Number of entries — TXPDO4 COB—ID — Transmission type TXPDO4 — Inhibit time — reserved — event timer Mapping parameter TXPDO1 — Number of entries — Mapping for n—th application object Mapping parameter TXPDO2 — Number of entries — Mapping for n—th application object Mapping parameter TXPDO3 — Number of entries — Mapping for n—th application object Mapping parameter TXPDO4 — Number of entries — Mapping for n—th application object yes Manufacturer warnings — Mask TxPDO Channel 1 — Mask (Byte 0..3) — Mask (Byte 4..7) — Mask TxPDO Channel 2 — Mask (Byte 0..3) — Mask (Byte 4..7) — Mask TxPDO Channel 3 — Mask (Byte 0..3) — Mask (Byte 4..7) — Mask TxPDO Channel 4 — Mask (Byte 0..3) — Mask (Byte 4..7)
ASCII object — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — — STATCODE — — — — — — — — — — — —
CANopen for S300/S700
Kollmorgen
05/2012
Index
2030h
2040h
2041h
2051h
2052h
2053h
2061h
SubIndex 0 1 2 3 4 5 6 7 8 0 1 2 0 1 2 3 0 1 2 3 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 0
CANopen for S300/S700
Data Type ARRAY UNSIGNED8 INTEGER32 INTEGER32 INTEGER32 INTEGER32 INTEGER32 INTEGER32 INTEGER32 INTEGER32 RECORD UNSIGNED8 INTEGER32 UNSIGNED32 RECORD UNSIGNED8 INTEGER32 INTEGER32 UNSIGNED8 ARRAY UNSIGNED8 UNSIGNED32 UNSIGNED32 UNSIGNED32 ARRAY UNSIGNED8 INTEGER32 INTEGER32 INTEGER32 INTEGER32 INTEGER32 INTEGER32 INTEGER32 INTEGER32 INTEGER32 INTEGER32 INTEGER32 INTEGER32 INTEGER32 INTEGER32 INTEGER32 INTEGER32 ARRAY UNSIGNED8 INTEGER32 INTEGER32 INTEGER32 INTEGER32 INTEGER32 INTEGER32 INTEGER32 INTEGER32 INTEGER32 INTEGER32 INTEGER32 INTEGER32 INTEGER32 INTEGER32 INTEGER32 INTEGER32 UNSIGNED16
Access
ro rww rww rww rww rww rww rww rww
rw rw ro ro ro ro ro rww rww rww ro rww rww rww rww rww rww rww rww rww rww rww rww rww rww rww rww ro rww rww rww rww rww rww rww rww rww rww rww rww rww rww rww rww rww
PDO Description mapp. DP-Ram Variablen, write only (PDO) Anzahl der Einträge yes DP-Ram Variable 9 yes DP-Ram Variable 10 yes DP-Ram Variable 11 yes DP-Ram Variable 12 yes DP-Ram Variable 13 yes DP-Ram Variable 14 yes DP-Ram Variable 15 yes DP-Ram Variable 16 Gearing factors for electronic gearing — Number of entries yes input factor for electronic gearing yes output factor for electronic gearing Actual values electr. gearing Number of entries yes Slave velocity set point yes Master velocity yes Internal control word for electr. gearing Configuration of Position Registers Number of entries yes Position register Enable yes Position register Mode yes Polarity of the position registers Position registers, absolute Number of entries yes Position register 1, absolute yes Position register 2, absolute yes Position register 3, absolute yes Position register 4, absolute yes Position register 5, absolute yes Position register 6, absolute yes Position register 7, absolute yes Position register 8, absolute yes Position register 9, absolute yes Position register 10, absolute yes Position register 11, absolute yes Position register 12, absolute yes Position register 13, absolute yes Position register 14, absolute yes Position register 15, absolute yes Position register 16, absolute Position registers, relative Number of entries yes Position register 1, relative yes Position register 2, relative yes Position register 3, relative yes Position register 4, relative yes Position register 5, relative yes Position register 6, relative yes Position register 7, relative yes Position register 8, relative yes Position register 9, relative yes Position register 10, relative yes Position register 11, relative yes Position register 12, relative yes Position register 13, relative yes Position register 14, relative yes Position register 15, relative yes Position register 16, relative yes Current limitation for velocity mode
Appendix ASCII object DPRVAR9 DPRVAR10 DPRVAR11 DPRVAR12 DPRVAR13 DPRVAR14 DPRVAR15 DPRVAR16 — — GEARI GEARO WPOSE WPOSX WPOSP P1 P2 P3 P4 P5 P6 P7 P8 P9 P10 P11 P12 P13 P14 P15 P16 P1 P2 P3 P4 P5 P6 P7 P8 P9 P10 P11 P12 P13 P14 P15 P16 DPRILIMIT
101
Appendix Index 2080h 2081h 2082h 2083h
2090h
20A0h 20A1h 20A2h 20A3h 20A4h 20B0h 20B1h
20B2h
2100h 2101h 2400h 2401h 2402h 2403h
SubIndex 0 0 0 0 0 1 2 3 4 5 6 7 8 0 0 0 0 0 0 0 0 1 2 0 0 0 1-6 0 0 0
2404h
0 1-128
2405h
0 1-128
2406h
0 1-128
2407h
0 1-128
2408h
0 1-128
2409h
0 1-128
240Ah
0 1-128
240Bh
0 1-128 0
240Ch
102
Kollmorgen
05/2012
Data Type UNSIGNED16 UNSIGNED16 UNSIGNED32 UNSIGNED32 ARRAY UNSIGNED8 INTEGER32 INTEGER32 INTEGER32 INTEGER32 INTEGER32 INTEGER32 INTEGER32 INTEGER32 INTEGER32 INTEGER32 INTEGER32 INTEGER32 UNSIGNED8 INTEGER32 UNSIGNED32 ARRAY UNSIGNED8 INTEGER16 INTEGER16 UNSIGNED32 UNSIGNED32 RECORD UNSIGNED8 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 RECORD UNSIGNED8 UNSIGNED32 RECORD UNSIGNED8 UNSIGNED32 RECORD UNSIGNED8 UNSIGNED32 RECORD UNSIGNED8 UNSIGNED32 RECORD UNSIGNED8 UNSIGNED32 RECORD UNSIGNED8 UNSIGNED32 RECORD UNSIGNED8 UNSIGNED32 RECORD UNSIGNED8 UNSIGNED32 UNSIGNED32
rw rw wo wo
PDO mapp. yes yes — —
ro ro ro ro ro ro ro ro ro ro ro ro ro rww rww rww
yes yes yes yes yes yes yes yes yes yes yes yes yes yes yes
ro ro ro rww ro
— yes yes yes yes
ro ro ro ro ro
— — yes yes yes
ro ro
— —
ro ro
— —
ro ro
— —
ro ro
— —
ro ro
— —
ro ro
— —
ro ro
— —
ro ro ro
— — yes
Access
Description Motion task for profile position mode Active motion task display Copy motion task Erase flash motion tasks DP-Ram Variables, read only Number of entries DP-Ram Variable 1 DP-Ram Variable 2 DP-Ram Variable 3 DP-Ram Variable 4 DP-Ram Variable 5 DP-Ram Variable 6 DP-Ram Variable 7 DP-Ram Variable 8 Latch position 1, positive edge Latch position 1, negative edge Latch position 2, positive edge Latch position 2, negative edge Latch control register Trigger variable digital input 20 Controlword digital inputs 5 .. 20 Analog Inputs Number of entries Voltage analog input 1 Voltage analog input 2 Write Dummy Read Dummy Safety card serial number Number of entries Safety card serial number part 1-6 Safety card status Safety card I/O status Safety card error register Safety card error stack error number Number of entries Error Stack – Error Number 1...128 Fehlerstack – Error Time Number of entries Error Stack – Error Time 1...128 Fehlerstack – Error Index Number of entries Error Stack – Error Index 1...128 Error Stack – Error Info Number of entries Error Stack – Error Info 1...128 Error Stack – Error Parameter 1 Number of entries Error Stack – Parameter 1 Error 1...128 Error Stack – Error Parameter 2 Number of entries Error Stack – Parameter 2 Error 1...128 Error Stack – Error Parameter 3 Number of entries Error Stack – Parameter 3 Error 1...128 Error Stack – Error Parameter 4 Number of entries Error Stack – Parameter 4 Error 1...128 Safety card actual speed
ASCII object — MOVE OCOPY — DPRVAR1 DPRVAR2 DPRVAR3 DPRVAR4 DPRVAR5 DPRVAR6 DPRVAR7 DPRVAR8 LATCH1P32 LATCH1N32 LATCH2P32 LATCH2N32 IN20TRIG IN5 .. IN20 ANIN1 ANIN2 — — — CSSTAT CSIOSTAT CSERR — — — — — — — — — — — — — — — — — — — — — — — — —
CANopen for S300/S700
Kollmorgen
Appendix
05/2012
Index
SubIndex
Data Type
Access
PDO Description mapp. ASCII Command MAXCMD — Number of entries — Value — Lower limit value — Upper limit value — Default value — Parameter format — Parameter control data — reserved — reserved Last entry of the ASCII Object Chanel yes control word yes status word yes Modes of Operation yes Modes of Operation Display yes Position actual value (increments) yes Position actual value (position units) — Following error window — Position window — Position window time yes Velocity actual value yes Target torque — Max current yes Torque actual value yes Target position — Reference offset Software position limit — Number of entries — Software position limit 1 — Software position limit 2 — Max profile velocity — Max motor speed yes Profile Velocity
607Fh 6080h 6081h
0 1 2 0 0 0
RECORD UNSIGNED8 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 RECORD UNSIGNED16 UNSIGNED16 INTEGER8 INTEGER8 INTEGER32 INTEGER32 UNSIGNED32 UNSIGNED32 UNSIGNED16 INTEGER32 INTEGER16 UNSIGNED16 INTEGER16 INTEGER32 INTEGER32 ARRAY UNSIGNED8 INTEGER32 INTEGER32 UNSIGNED32 UNSIGNED32 UNSIGNED32
6083h
0
UNSIGNED32
rw
yes
Profile Acceleration
6084h
0
UNSIGNED32
rw
yes
Profile Deceleration
6085h 6086h 6089h 608Ah 608Bh 608Ch 608Dh 608Eh
0 0 0 0 0 0 0 0
UNSIGNED32 INTEGER16 INTEGER8 UNSIGNED8 INTEGER8 UNSIGNED8 INTEGER8 UNSIGNED8 ARRAY UNSIGNED8 UNSIGNED32 UNSIGNED32 ARRAY UNSIGNED8 UNSIGNED32 UNSIGNED32 ARRAY UNSIGNED8 UNSIGNED32 UNSIGNED32 ARRAY UNSIGNED8 UNSIGNED32 UNSIGNED32
rw Rww rw rw rw rw rw rw
— yes — — — — — —
ro rw rw
— — —
ro rw rw
— — —
ro rw rw
— — —
ro rw rw
— — —
Quick stop deceleration Motion profile type Position Notation index Position Dimension index Velocity Notation index Velocity Dimension index Acceleration Notation index Acceleration Dimension index Position encoder resolution Number of entries Encoder increments Motor revolutions Velocity encoder resolution Number of entries Encoder increments per second Motor revolutions per second Gear ratio Number of entries Motor revolutions Shaft revolutions Feed constant Number of entries Feed Shaft revolutions
0 1 2 3 3500h 4 5 6 7 8 3500h+MAXCMD 6040h 0 6041h 0 6060h 0 6061h 0 6063h 0 6064h 0 6065h 0 6067h 0 6068h 0 606Ch 0 6071h 0 6073h 0 6077h 0 607Ah 0 607Ch 0
607Dh
608Fh
6090h
6091h
6092h
0 1 2 0 1 2 0 1 2 0 1 2
CANopen for S300/S700
ro ro ro ro ro ro ro ro ro w ro rw ro ro ro rw rw rw ro rw rw ro rw rw ro rw rw rw rw rw
ASCII object MAXCMD — — — — — — — — — — — — — — — PFB PEMAX PEINPOS INPT1 — — MIPEAK — O_P ROFFS
SWE1 SWE2 PVMAX VLIM O_V O_ACC (pp) /ACC (pv) O_DEC (pp) / DEC (pv) DECSTOP O_C — — — — — — — — PGEARO BUSP7 — — — — — — — — — — PGEARI —
103
Appendix Index
6093h
6094h
6097h
6098h
6099h
609Ah 60C0h 60C1h
60C2h
60C3h
60C4h
60C5h 60C4h 60F4h 60FDh 60FFh 6502h
104
Kollmorgen
05/2012 SubIndex 0 1 2 0 1 2 0 1 2 0 0 1 2 0 0 0 1 0 1 2 0 1 2 0 1 2 3 4 5 0 6 0 0 0 0
Data Type ARRAY UNSIGNED8 UNSIGNED32 UNSIGNED32 ARRAY UNSIGNED8 UNSIGNED32 UNSIGNED32 ARRAY UNSIGNED8 UNSIGNED32 UNSIGNED32 INTEGER8 ARRAY UNSIGNED8 UNSIGNED32 UNSIGNED32 UNSIGNED32 INTEGER8 ARRAY UNSIGNED8 INTEGER32 RECORD UNSIGNED8 UNSIGNED8 INTEGER16 ARRAY UNSIGNED8 UNSIGNED8 UNSIGNED8 RECORD UNSIGNED8 UNSIGNED32 UNSIGNED32 UNSIGNED8 UNSIGNED16 UNSIGNED8 UNSIGNED32 UNSIGNED8 INTEGER32 UNSIGNED32 INTEGER32 UNSIGNED32
Access
ro rw rw ro ro ro ro rw rw rw ro rw rw rw rw ro rw ro rw rw ro rw rw ro ro rw rw rw w rw w ro ro rw ro
PDO Description mapp. Position factor — Number of entries — Numerator — Feed constant Velocity encoder factor — Number of entries — Numerator — Denumerator Acceleration factor Number of entries — Numerator — Denumerator — Homing type Homing velocity — Number of entries — Speed while searching for limit switch — Speed while searching for zero mark — Homing acceleration — Interpolation submode select Interpolation data record — Number of entries yes x1, first parameter of ip function Interpolation time period — Number of entries — Interpolation time units — Interpolation time index Interpolation sync definition — Number of entries — Synchronize on group — ip sync every n event Interpolation data configuration — Number of entries — Maximum buffer size — Actual buffer size — Buffer organization — Buffer position — Siza of data record — Max acceleration /deceleration — Buffer clear yes Following error actual value yes Digital inputs yes Target velocity — Supported drive modes
ASCII object — — — — — — — — — — — — NREF, DREF — — VREF VREF0 ACCR, DECR — — — — — PTBASE — — — — — — — — — — — — — — — PE IN1 .. IN4 J —
CANopen for S300/S700
Kollmorgen 5.2
05/2012
Appendix
CANopen SDOs for Safety Expansion Card S1/S2 The Safety expansion cards S1 and S2 can be used with S700 (from Hardware Revision 2.10) only.
5.2.1
Object 2400h: Safety card serial number The serial number of the safety card must be filled in the configurator software. The number is printed on the safety card front cover. It is separated to six 32 bit blocks, every byte codes one ASCII character. End of string is coded by 0h.
5.2.2
Index Name Object code Category
2400h Safety card serial number Record optional
Subindex Description Data type Category Access PDO mapping Value range Default value
0 number of entries UNSIGNED8 optional ro not possible 6 6
Subindex Description Data type Category Access PDO mapping Value range Default value
1 to 6 Safety card serial number part 1 to 6 UNSIGNED32 optional ro not possible UNSIGNED32 —
Object 2401h: Safety card status Index Name Object code Data type Category Access PDO mapping Value range Default value
Bit 0 1 2 3 4 5 8 9 10 11
2401h Safety card status VAR UNSIGNED32 optional ro possible UNSIGNED32 —
Meaning Status LED ‘POWER’ on safety card front cover Status LED ‘RUN’ on safety card front cover Status LED ‘CONFIG’ on safety card front cover Status LED ‘FAULT’ on safety card front cover Status internal ‘STO’ (0 = STO not active, 1 = STO active) OK message if configuration data download was successful Bit is set if safety card status is ‘STARTUP’ Bit is set if safety card status is ‘RUN’ Bit is set if safety card status is ‘STOP’ Bit is set if safety card status is ‘CONFIG’
CANopen for S300/S700
105
Appendix 5.2.3
05/2012
Object 2402h: Safety card I/O status Index Name Object code Data type Category Access PDO mapping Value range Default value
Bit 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 29 30 31
106
Kollmorgen
2402h Safety card I/O status VAR UNSIGNED32 optional ro possible UNSIGNED32 —
Meaning Status input ‘SS1 Activate’ Status input ‘SS2 Activate’ Status input ‘SOS Activate’ Status input ‘SLS Activate’ Status input ‘SSR Activate’ Status input ‘SDI Left Activate’ Status input ‘SDI Right Activate’ Status input ‘SBT Activate’ Status output ‘Ready’ Status output ‘STO Acknowledge’ Status output ‘SOS Acknowledge’ Status output ‘SDI Acknowledge’ Status output ‘Safe Range Acknowledge’ Status output ‘SBT Acknowledge’ Status 2 pole output ‘Safe Brake Control’ (external brake) Status output ‘STO SIL3’ (second switch off line) Status input ‘SS1 SIL3/Reset’ Brake ramp control SS2 (0=drive control, 1=PLC control) Brake ramp control SS1 (0=drive control, 1=PLC control) Emergency stop ramp with SS1 (0=not active, 1=active)
CANopen for S300/S700
Kollmorgen 5.2.4
05/2012
Appendix
Object 2403h: Safety card error register Index Name Object code Data type Category Access PDO mapping Value range Default value
Bit 0 1 2 3 4 5 6 11 12 13 14 15 16 17 18 19 20 21 24 25 26 27 28 29 30 31
2403h Safety card error register VAR UNSIGNED32 optional ro possible UNSIGNED32 0
Meaning Error with safety function ‘Safe Stop 1’ SS1 Error with safety function ‘Safe Stop 2’ SS2 Error with safety function ‘Safe Operating Stop’ SOS Error with safety function ‘Safely Limited Speed’ SLS Error with safety function ‘Safe Speed Range’ SSR Error with safety function ‘Safe Direction’ SDI Error with safety function ‘Safe Brake Test’ SBT Error with wiring of digital inputs Error wiring / feedback digital outputs Error with voltage supervision test Error with watchdog test (start, stop) Error with memory test (Flash/RAM) Timing error (interrupt supervision) Position supervision by current signal Position supervision by feedback signal (internal, external, set point) Parameter error (servo amplifier) Input states / configuration data don't match to each other Error data check Channel A-B Error with write/delete in flash memory Time synchronization of channels A and B Watchdog triggered Data / parameter check (data transmission / configuration) Timeout during transmission of data/parameter Error CRC check Error device data check (serial numkber, version) Fatal error system software
CANopen for S300/S700
107
Appendix 5.2.5
Kollmorgen
05/2012
Object 2404h: Safety card error stack error number Error numbers of the entries. The error stack can be requested by SDOs 2404h to 240Bh. Identical subindices always corresponds to each other. A complete entry would be for example 2404h to 240Bh alweays with subindex 5.
5.2.6
Index Name Object code Category
2404h Safety card error stack error number Record optional
Subindex Description Data type Category Access PDO mapping Value range Default value
0 number of entries UNSIGNED8 optional ro not possible 0...128 0
Subindex Description Data type Category Access PDO mapping Value range Default value
1 to 128 Safety card error stack error number X UNSIGNED32 optional ro not possible UNSIGNED32 0
Object 2405h: Safety card error stack error time Time index were the error occured.
108
Index Name Object code Category
2405h Safety card error stack error time Record optional
Subindex Description Data type Category Access PDO mapping Value range Default value
0 number of entries UNSIGNED8 optional ro not possible 0...128 0
Subindex Description Data type Category Access PDO mapping Value range Default value
1 to 128 Safety card error stack error time X UNSIGNED32 optional ro not possible UNSIGNED32 0
CANopen for S300/S700
Kollmorgen 5.2.7
05/2012
Appendix
Object 2406h: Safety card error stack error index Detailled error code (suberror code)-
5.2.8
Index Name Object code Category
2406h Safety card error stack error index Record optional
Subindex Description Data type Category Access PDO mapping Value range Default value
0 number of entries UNSIGNED8 optional ro not possible 0...128 0
Subindex Description Data type Category Access PDO mapping Value range Default value
1 to 128 Safety card error stack error index X UNSIGNED32 optional ro not possible UNSIGNED32 0
Object 2407h: Safety card error stack error info Indicates the channel were the error occurd and tghe current error state: Bit 0 = Channel A Bit 1 = Channel B Bit 2 = Error still occurs Index Name Object code Category
2407h Safety card error stack error info Record optional
Subindex Description Data type Category Access PDO mapping Value range Default value
0 number of entries UNSIGNED8 optional ro not possible 0...128 0
Subindex Description Data type Category Access PDO mapping Value range Default value
1 to 128 Safety card error stack error info X UNSIGNED32 optional ro not possible UNSIGNED32 0
CANopen for S300/S700
109
Appendix 5.2.9
Kollmorgen
05/2012
Object 2408h: Safety card error stack error parameter 1 Error specific additional information.
5.2.10
Index Name Object code Category
2408h Safety card error stack error parameter 1 Record optional
Subindex Description Data type Category Access PDO mapping Value range Default value
0 number of entries UNSIGNED8 optional ro not possible 0...128 0
Subindex Description Data type Category Access PDO mapping Value range Default value
1 to 128 Safety card error stack error parameter 1 of error X UNSIGNED32 optional ro not possible UNSIGNED32 0
Object 2409h: Safety card error stack error parameter 2 Error specific additional information.
110
Index Name Object code Category
2409h Safety card error stack error parameter 2 Record optional
Subindex Description Data type Category Access PDO mapping Value range Default value
0 number of entries UNSIGNED8 optional ro not possible 0...128 0
Subindex Description Data type Category Access PDO mapping Value range Default value
1 to 128 Safety card error stack error parameter 2 of error X UNSIGNED32 optional ro not possible UNSIGNED32 0
CANopen for S300/S700
Kollmorgen 5.2.11
05/2012
Appendix
Object 240Ah: Safety card error stack error parameter 3 Error specific additional information.
5.2.12
Index Name Object code Category
240Ah Safety card error stack error parameter 3 Record optional
Subindex Description Data type Category Access PDO mapping Value range Default value
0 number of entries UNSIGNED8 optional ro not possible 0...128 0
Subindex Description Data type Category Access PDO mapping Value range Default value
1 to 128 Safety card error stack error parameter 3 of error X UNSIGNED32 optional ro not possible UNSIGNED32 0
Object 240Bh: Safety card error stack error parameter 4 Error specific additional information. Index Name Object code Category
240Bh Safety card error stack error parameter 4 Record optional
Subindex Description Data type Category Access PDO mapping Value range Default value
0 number of entries UNSIGNED8 optional ro not possible 0...128 0
Subindex Description Data type Category Access PDO mapping Value range Default value
1 to 128 Safety card error stack error parameter 4 of error X UNSIGNED32 optional ro not possible UNSIGNED32 0
CANopen for S300/S700
111
Appendix 5.2.13
05/2012
Kollmorgen
Object 240Ch: Actual speed Actual speed in 4096/Second. Index Name Object code Data type Category Access PDO mapping Value range Default value
112
240Ch Safety card actual speed VAR UNSIGNED32 optional ro possible UNSIGNED32 —
CANopen for S300/S700
Kollmorgen 5.3
05/2012
Appendix
Examples All examples are valid for S300/S700. All values are hexadecimal.
5.3.1
Basic testing of the connection to the S300/S700 controls When the S300/S700 is switched on, a boot-up message is transmitted over the bus. The telegram continues to be transmitted, as long as it has not yet found a suitable receiver in the bus system. If a CAN master is unable to recognize this message, then the following measures can be taken to test communication: l
Check the bus cable: correct characteristic impedance, correct termination resistors at both ends?
l
With a multimeter: check the quiescent level of the bus cables CAN-H and CAN-L against CAN-GND (approx. 2.5 V).
l
With an oscilloscope: check the output signals on CAN-H and CAN-L at the S300/S700. Are signals being transmitted on the bus? The voltage difference between CAN-H and CAN-L for a logical "0" is approx. 2-3 V.
l
Does signal transmission stop if the master is connected?
l
Check the master hardware.
l
Check the master software!
CANopen for S300/S700
113
Appendix 5.3.2
Kollmorgen
05/2012
Example: Operating the Status Machine The status machine must be used sequentially during boot-up period. Leaving out a status is not possible. When the S300/S700 is switched on and the boot-up message has been detected, communication via SDOs can be initiated. For example: all the parameters can be read out or written to, or the status machine for the drive can be controlled. The state of the status machine can be obtained through the query of Object 6041 Sub 0. Directly after switch-on, a value will be returned, such as 0240h. This corresponds to the status "Switch on disabled". The following data would then be visible on the CAN bus: COB-ID
Control byte
603 583
40 4B 2 bytes of data
Index Low byte High byte 41 60 41 60
Subindex 00h 00h
Data
Comment
40 00 00 00 40 02 00 00 status
If the supply power is present and the hardware enable is at the High level (24 V to DGND) then you can try to switch the drive to the state "Switched on" by writing the Controlword (Object 6040 Sub 0). If this is successful, there will be a positive acknowledgement in the SDO reply (control byte 0 in the data field = 60h). Switch on The messages then appear as follows: COB-ID
Control byte
603 583 603 583
2B 60 2B 60
control word = 0x0007
Index Low byte High byte 40 60 40 60 40 60 40 60
Subindex 00h 00h 00h 00h
Data
Comment
06 00 00 00 Shut down 00 00 00 00 07 00 00 00 Switch on 00 00 00 00
Meaning: Bit 0, Bit 1, Bit 2 set Þ Switch On, Disable Voltage off, Quick Stop off
Status query 2 The new status can then be queried again, and returns the following result: COB-ID
Control byte
603 583
40 4B
Status = 0x0233
114
Index Low byte High byte 41 60 41 60
Subindex 00h 00h
Data
Comment
— query status 33 02 00 00
Meaning: Bit 0, Bit 1, Bit 5 set Þ ready to Switch On, Bit 9 set Þ remote, operation possible via RS232
CANopen for S300/S700
Kollmorgen 5.3.3
Appendix
05/2012
Example: Jog Mode via SDO The motor shall work with constant velocity. COB-ID 603 583 603 583 603 583 603 583 603 583 603
5.3.4
Index Control Subbyte Low byte High byte index 2F 60 60 00h 60 60 60 00h 23 FF 60 00h 60 FF 60 00h 2B 40 60 00h 60 40 60 00h 2B 40 60 00h 60 40 60 00h 2B 40 60 00h 60 40 60 00h 23 FF 60 00h
583
60
FF
60
00h
603 583
2B 60
40 40
60 60
00h 00h
Data 03 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 06 00 00 00 00 00 00 00 07 00 00 00 00 00 00 00 0F 00 00 00 00 00 00 00 00 41 00 00
Comment Mode of operation “Profile Velocity” setpoint=0 shutdown switch on enable operation
setpoint=16640dec / PGEARI=Turns/sec for PGEARI=10000, setpoint=1.664 sec-1 00 00 00 00 99.84 rpm 0F 01 00 00 Intermediate Stop 00 00 00 00
Example: Torque Mode via SDO The motor shall work with constant torque. In this mode it is useful to limit the maximum speed with the parameter ICMDVLIM with the terminal function of the setup software. Example: ICMDVLIM 300 SAVE COLDSTART
;limit of max. speed to 300 rpm.
CAN data: COB-ID 603 583 603 583 603 583 603 583 603 583 603 583 603 583
Index Control Subbyte Low byte High byte index 2F 60 60 00h 60 60 60 00h 2B 71 60 00h 60 71 60 00h 2B 40 60 00h 60 40 60 00h 2B 40 60 00h 60 40 60 00h 2B 40 60 00h 60 40 60 00h 2B 71 60 00h 60 71 60 00h 2B 40 60 00h 60 40 60 00h
CANopen for S300/S700
Data 04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 06 00 00 00 00 00 00 00 07 00 00 00 00 00 00 00 0F 00 00 00 00 00 00 00 90 01 00 00 00 00 00 00 0F 01 00 00 00 00 00 00
Comment Mode of operation “Torque” setpoint=0 shutdown switch on enable operation setpoint 400 mA intermediate Stop
115
Appendix 5.3.5
Kollmorgen
05/2012
Example: Jog Mode via PDO It is useful to disable unused PDOs. In Operation Mode "Digital Velocity" a digital speed setpoint is transmitted via RXPDO. Actual position and actual speed is read via a TXPDO triggered by SYNC. COB-ID 603 583 603 583 603 583 603 583 603 583 603
Index Control byte Low byte High byte 2F 60 60 60 60 60 2F 00 16 60 00 16 23 00 16 60 00 16 2F 00 16 60 00 16 2F 00 1A 60 00 1A 23 00 1A
Subindex 00h 00h 00h 00h 01h 01h 00h 00h 00h 00h 01h
583
60
00
1A
01h
603
23
00
1A
02h
583
60
00
1A
02h
603 583 603 583 603 583 603 583 603 583 603 583 603 583 603 583 000 603 583 603 583 603 583
2F 60 2F 60 23 60 23 60 23 60 23 60 23 60 23 60
00 00 00 00 01 01 02 02 03 03 01 01 02 02 03 03
1A 1A 18 18 18 18 18 18 18 18 14 14 14 14 14 14
00h 00h 02h 02h 01h 01h 01h 01h 01h 01h 01h 01h 01h 01h 01h 01h
2B 60 2B 60 2B 60
40 40 40 40 40 40
60 60 60 60 60 60
00h 00h 00h 00h 00h 00h
2B 60
40 40
60 60
00h 00h
203
080
183
603 583
116
Data 03 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 20 00 FF 60 00 00 00 00 01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 20 00 64 60
Comment mode of operation “Profile Velocity” delete entries for the first RXPDO mapping RXPDO1, Object 60FF, Sub-Index 0 speed setpoint, data length 32bit confirm number of mapped objects delete entries for the first TXPDO
mapping TXPDO1/1, Object6064, Sub-Index 0 current position value in SI units, 00 00 00 00 data length 32bit 20 00 6C 60 mapping TXPDO1/2, Object606C, Sub-Index 0 current speed value, data length 00 00 00 00 32bit 02 00 00 00 check number of mapped objects 00 00 00 00 01 00 00 00 set TXPDO1 to synchronous, transmission 00 00 00 00 with every SYNC 83 02 00 C0 disable TPDO2, set bit 31 (80h) 00 00 00 00 83 03 00 C0 disable TPDO3 00 00 00 00 83 04 00 C0 disabled TPDO4 00 00 00 00 03 03 00 80 disabled RPDO2 00 00 00 00 03 04 00 80 disabled RPDO3 00 00 00 00 03 05 00 80 disabled RPDO4 00 00 00 00 01 03 enable NMT 06 00 00 00 shutdown 00 00 00 00 07 00 00 00 switch on 00 00 00 00 0F 00 00 00 enable operation 00 00 00 00 setpoint V= 98,3 rpm Calculated as follows: 4000h=16384dec=Ncmd; 00 40 10000=PGEARI; (Ncmd/60)xPGEARI=V (16384/10000)x60=98,3 rpm send SYNC response, position and Nact Pos.= 00 01 45 FE = 83454 [Si units]; FE 45 01 00 Nact = (001A AB A6) / 17894,4dec = 97,7 A6 AB 1A 00 rpm 17894,4 is the const. factor. 0F 01 00 00 intermediate stop 00 00 00 00
CANopen for S300/S700
Kollmorgen 5.3.6
Appendix
05/2012
Example: Torque Mode via PDO It is useful to disable unused PDOs. The first TX_PDO shall transmit the actual current value with every SYNC. Index Low byte High byte 60 60 60 60 00 16 00 16 00 16
603 583 603 583 603
Control byte 2F 60 2F 60 23
583
60
00
16
01h
00 00 00 00
603 583 603 583 603
2F 60 2F 60 23
00 00 00 00 00
16 16 1A 1A 1A
00h 00h 00h 00h 01h
01 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 10 00 77 60
583
60
00
1A
01h
00 00 00 00
603 583 603 583 603 583 603 583 603 583 603 583 603 583 603 583 000 603 583 603 583 603 583 203 080 183 603 583
2F 60 2F 60 23 60 23 60 23 60 23 60 23 60 23 60
00 00 00 00 01 01 02 02 03 03 01 01 02 02 03 03
1A 1A 18 18 18 18 18 18 18 18 14 14 14 14 14 14
00h 00h 02h 02h 01h 01h 01h 01h 01h 01h 01h 01h 01h 01h 01h 01h
2B 60 2B 60 2B 60
40 40 40 40 40 40
60 60 60 60 60 60
00h 00h 00h 00h 00h 00h
01 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 83 02 00 C0 00 00 00 00 83 03 00 C0 00 00 00 00 83 04 00 C0 00 00 00 00 03 03 00 80 00 00 00 00 03 04 00 80 00 00 00 00 03 05 00 80 00 00 00 00 01 03 06 00 00 00 00 00 00 00 07 00 00 00 00 00 00 00 0F 00 00 00 00 00 00 00 12 02
COB-ID
2B 60
CANopen for S300/S700
40 40
60 60
Subindex 00h 00h 00h 00h 01h
04 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 10 00 71 60
00h 00h
Data
19 02 0F 01 00 00 00 00 00 00
Comment Mode of operation “Torque” delete entry for the first RXPDO mapping RXPDO1, Object6071,Sub-Index 0 current setpoint, data length 16bit check number of mapped objects delete entry for TXPDO1 mapping TXPDO1, Object6077,Sub-Index 0 actual current value, Data length16bit number of mapped objects set TXPDO1 to synchronous, transmission with every SYNC disable TPDO2, set bit 31 (80h) disable TPDO3 disabled TPDO4 disabled RPDO2 disabled RPDO3 disabled RPDO4 enable NMT shutdown switch on enable operation setpoint 530 mA send SYNC actual value 537 mA intermediate stop
117
Appendix 5.3.7
Kollmorgen
05/2012
Example: Homing via SDO When the S300/S700 is operated as a linear axis, a reference/homing point must be defined before positioning tasks can be executed. This must be done by executing a homing run in the Homing mode (0x6). This example shows the procedure in the Homing mode. Now some of the parameters that affect the homing movement are set via the bus. If you can be absolutely certain that no-one has altered the parameters in the servoamplifier, then this part can be omitted, since the servoamplifier save the data in non-volatile memory. The inputs must be configured as limit switches. Because the dimension parameters are not finally defined in DS402, you must select these units: PUNIT = 0 (counts) VUNIT = 0 (counts/s) ACCUNIT = 3 (counts/s2) The basic setup of the servoamplifier must be done with the help of the setup software before starting the homing run. The resolution has been set to 10000 µm/turn in this example. COB-ID 703 603 583 603 583 603 583 603 583 603 583
118
Control byte 00 40 4B 23 60 23 60 23 60 23 60
Index Low byte High byte
Subindex
Data
00h 00h 01h 01h 02h 02h 00h 00h 00h 00h
00 00 00 00 40 02 00 00 10 27 00 00 00 00 00 00 88 13 00 00 00 00 00 00 10 27 00 00 00 00 00 00 A8 61 00 00 00 00 00 00
Comment boot-up message
41 41 99 99 99 99 9A 9A 7C 7C
60 60 60 60 60 60 60 60 60 60
read profile status vref=10000 counts/s until limit switch is reached vref=5000 counts/s from limit switch to zero mark Decel. and Accel. ramp 1000counts/s² Reference offset 25000counts
CANopen for S300/S700
Kollmorgen
Appendix
05/2012
Homing type (6098) COB-ID 603 583 603 583 603 583 603 583 603 583 603 583 603 583 603 583 603 583
Control byte 2F 60 40 4B 2B 60 2B 60 2B 60 40 4B 2B 60 40 4B 40 4B
Index Low byte High byte 60 60 60 60 41 60 41 60 40 60 40 60 40 60 40 60 40 60 40 60 41 60 41 60 40 60 40 60 41 60 41 60 41 60 41 60
Subindex 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h
Data 06 00 00 00 00 00 00 00 00 00 00 00 40 02 00 00 06 00 00 00 00 00 00 00 07 00 00 00 00 00 00 00 0F 00 00 00 00 00 00 00 00 00 00 00 37 02 00 00 1F 00 00 00 00 00 00 00 00 00 00 00 37 02 00 00 00 00 00 00 37 16 00 00
Comment mode of operation = homing read profile status, response: 0250h Voltage Enabled Controlword Transition_2,"ready to switch on". Shutdown Transition_3, "switch on". switch on Transition_4,"operation enable" read profile status Homing_operation_start read profile status, response: homing not finished read profile status, response: homing finished
Bit 12 in SDO 6041 indicates, whether homing is finished. Reading of the profile status isn't necessary.
5.3.8
Example: Start Motion Task from the internal memory of S300/S700 via SDO This example needs a defined motion task (can be done with the setup software) saved in the servoamplifier and homing must be done before starting absolute motion tasks.
603 583 603 583 603 583 603 583 603 583 603 583 603
Control byte 2F 60 2B 60 2B 60 2B 60 2B 60 2B 60 40
583
4B
COB-ID
CANopen for S300/S700
Index Low byte High byte 60 60 60 60 40 60 40 60 40 60 40 60 40 60 40 60 80 20 80 20 40 60 40 60 81 20 81
20
Subindex 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h 00h
Data 01 00 00 00 00 00 00 00 06 00 00 00 00 00 00 00 07 00 00 00 00 00 00 00 0F 00 00 00 00 00 00 00 03 00 00 00 00 00 00 00 3F 00 00 00 00 00 00 00 00 00 00 00 03 00 00 00
Comment mode of operation= position Shutdown Switch On Enable Operation Select motion task 3 Start with new SETPOINT and CHANGE_SET_IMMEDIATELY Read active motion task response: Motion task 3 in operation
119
Appendix 5.3.9
Kollmorgen
05/2012
Example: Using the Profile Position Mode This example shows the operation of the Profile position mode. For this, the PDOs are set as follows: First RPDO No special mapping necessary, because the default mapping enters the controlword RXPDO1. Second RPDO COB-ID 603 583 603 583 603 583 603 583
Control byte 2F 60 23 60 23 60 2F 60
Index Low byte High byte 01 16 01 16 01 16 01 16 01 16 01 16 01 16 01 16
Subindex 00h 00h 01h 01h 02h 02h 00h 00h
Control byte 2F 60 23 60 2F 60
Index Low byte High byte 00 1A 00 1A 00 1A 00 1A 00 1A 00 1A
Subindex 00h 00h 01h 01h 00h 00h
Index Low byte High byte 01 1A 01 1A 01 1A 01 1A 01 1A 01 1A 01 1A 01 1A
Subindex 00h 00h 01h 01h 02h 02h 00h 00h
Data 00 00 00 00 00 00 00 00 20 00 7A 60 00 00 00 00 20 00 81 60 00 00 00 00 02 00 00 00 00 00 00 00
Comment RPDO2: delete mapping RPDO2, entry 1: target_position RPDO2, entry 2: profile_velocity enter number of mapped objects
First TPDO COB-ID 603 583 603 583 603 583
Data 00 00 00 00 00 00 00 00 10 00 41 60 00 00 00 00 01 00 00 00 00 00 00 00
Comment TPDO1: delete mapping TPDO1, entry 1: profile statusword enter number of mapped objects
Second TPDO COB-ID 603 583 603 583 603 583 603 583
Control byte 2F 60 23 60 23 60 2F 60
Data 00 00 00 00 00 00 00 00 20 00 64 60 00 00 00 00 20 00 6C 60 00 00 00 00 02 00 00 00 00 00 00 00
Comment TPDO2: delete mapping TPDO2, entry 1: position_actual_value TPDO2, entry 2: velocity_actual_value enter number of mapped objects
The second TPDO should be sent with every SYNC by the servoamplifier. COB-ID 603 583
120
Control byte 2F 60
Index Low byte High byte 01 18 01 18
Subindex 02h 02h
Data 01 00 00 00 00 00 00 00
Comment TPDO2 with every SYNC
CANopen for S300/S700
Kollmorgen
Appendix
05/2012
Disable unused TPDOs COB-ID 603 583 603 583
Control byte 23 60 23 60
Index Low byte High byte 02 18 02 18 03 18 03 18
Subindex 01h 01h 01h 01h
Data
Comment
83 03 00 C0 disable TPDO3 00 00 00 00 83 04 00 C0 disable TPDO4 00 00 00 00
Disable unused RPDOs COB-ID 603 583 603 583
Control byte 23 60 23 60
Index Low byte High byte 02 14 02 14 03 14 03 14
Subindex 01h 01h 01h 01h
Data 03 04 00 80 00 00 00 00 03 05 00 80 00 00 00 00
Comment disable RPDO3 disable RPDO4
Define mechanical resolution via Object 6092h, Sub-Index 01h and 02h. Default values are the motion specific factors PGEARI and PGEARO: COB-ID 603 583 603 583
Control byte 23 60 23 60
Index Low byte High byte 93 60 93 60 93 60 93 60
Subindex 01h 01h 02h 02h
Data
Comment
00 00 10 00 2E20 increments 00 00 00 00 A0 8C 00 00 3600 user units 00 00 00 00
After defining the PDOs they can be released with the NMT: COB-ID
Data
Comment
000 183
01 03 40 02
enable NMT profile status
Data
Comment
Now the homing can be set and started. COB-ID 603 583 603 583 603 583 603 583 183 603 583 183 603 583 183 603 583 183 183
Control byte 2F 60 2F 60 23 80 2B 60
Index Low byte High byte 60 60 60 60 98 60 98 60 99 60 99 60 40 60 40 60
Subindex 00h 00h 00h 00h 01h 01h 00h 00h
2B 60
40 40
60 60
00h 00h
2B 60
40 40
60 60
00h 00h
2B 60
40 40
60 60
00h 00h
CANopen for S300/S700
06 00 00 00 00 00 00 00 0C 00 00 00 00 00 00 00 40 19 01 00 31 00 09 06 06 00 00 00 00 00 00 00 21 02 07 00 00 00 00 00 00 00 33 02 0F 00 00 00 00 00 00 00 37 02 1F 00 00 00 00 00 00 00 37 06 37 16
Operation mode = homing homing type 12, negative direction (DS402) homing speed 72000 units/s=2s-1 Transition_2,"ready to switch on".Shutdown Transition_3,"switch on".Switch on
Controlword: Operation Enable start homing response telegram response: target reached response: homing attained
121
Appendix
Kollmorgen
05/2012
Finish homing with Controlword 1_RPDO COB-ID
Data
203
0F 00
Comment
Switch to Profile Position Mode and set ramps for positioning COB-ID 603 583 603 583 603 583
Control byte 2F 60 23 60 23 60
Index Low byte High byte 60 60 60 60 83 60 83 60 84 60 84 60
Subindex 00h 00h 00h 00h 00h 00h
Data 01 00 00 00 00 00 00 00 32 00 00 00 00 00 00 00 32 00 00 00 00 00 00 00
Comment Profile Positioning Mode 50ms acceleration time 50ms deceleration time
Setpoint COB-ID
Data
303
20 4E 00 00
080 283
BB F8 FF FF
Comment Pos 8CA0 =36000µm ; V= 20000 µm/s send a SYNC
Set controlword with „new setpoint“ by bit (bit 4) COB-ID
Data
203
1F 00
Comment
Wait COB-ID
Data
Comment
183
37 12
setpoint acknowledge
COB-ID
Data
Comment
203 183
0F 00 37 02
reset Setpoint acknowledge
Reset controlword with „new setpoint“ by bit (bit 4) reset
Wait
122
COB-ID 183 080
Data 37 06
283
92 FC FF FF
Comment response: target reached SYNC response: 92 FC position FF FF speed
CANopen for S300/S700
Kollmorgen 5.3.10
Appendix
05/2012
Example: ASCII Communication This example sets P gain of the velocity controller to 6. The ASCII command for this is "GV 6". COB-ID 603 583 603 583 603 583 603 583 603 583 603 583
Control byte 2F 60 2F 60 2F 60 2F 60 2F 60 2F 60
CANopen for S300/S700
Index Low byte High byte 26 10 26 10 26 10 26 10 26 10 26 10 26 10 26 10 26 10 26 10 26 10 26 10
Subindex 01h 01h 01h 01h 01h 01h 01h 01h 01h 01h 01h 01h
Data 47 00 00 00 00 00 00 00 56 00 00 00 00 00 00 00 20 00 00 00 00 00 00 00 36 00 00 00 00 00 00 00 0D 00 00 00 00 00 00 00 0A 00 00 00 00 00 00 00
Comment send ASCII code "G" send ASCII code "V" send ASCII code "SP" (space) send ASCII code "6" send ASCII code "CR" send ASCII code "LF"
123
Appendix 5.3.11
Kollmorgen
05/2012
Test for SYNC telegrams Configuration Aims: a) Assign Target Position and Profile Velocity to a PDO (2nd receive-PDO) b) Assign Actual Position to a PDO (1st transmit-PDO), generated with every 2nd SYNC. c) Assign Statusword and Manufacturer Status to a PDO (2nd transmit-PDO), generated with every 3rd SYNC. Telegrams with the corresponding responses: COB-ID 603 583 603 583 603 583 603 583 603 583 603 583 603 583 603 583 603 583 603 583 603 583 603 583 603 583
Control Byte 2F 60 23 60 23 60 2F 60 2F 60 23 60 2F 60 2F 60 2F 60 23 60 23 60 2F 60 2F 60
Index Low byte High byte 01 16 01 16 01 16 01 16 01 16 01 16 01 16 01 16 00 1A 00 1A 00 1A 00 1A 00 1A 00 1A 00 18 00 18 01 1A 01 1A 01 1A 01 1A 01 1A 01 1A 01 16 01 16 01 18 01 18
Subindex 00h 00h 01h 01h 02h 02h 00h 00h 00h 00h 01h 01h 00h 00h 02h 02h 00h 00h 01h 01h 02h 02h 00h 00h 02h 02h
Data 00 00 00 00 00 00 00 00 20 00 7A 60 00 00 00 00 20 00 81 60 00 00 00 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 20 00 64 60 00 00 00 00 01 00 00 00 00 00 00 00 02 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 10 00 41 60 00 00 00 00 20 00 02 10 00 00 00 00 02 00 00 00 00 00 00 00 03 00 00 00 00 00 00 00
Comment RPDO2: delete mapping RPDO2, entry 1: target position RPDO2, entry 2: profile velocity RPDO2: enter number of mapped objects TPDO1: delete mapping TPDO1: entry 1: Actual Position TPDO1: enter number of mapped objects TPDO1: send with every 2nd SYNC TPDO2: delete mapping TPDO2: entry 1: Statusword TPDO2: entry 2: Manufacturer Status TPDO2: enter number of mapped objects TPDO2: send with every 3rd SYNC
SYNC-Object COB-ID 080
Comment Object 181 (TPDO 1) appears at every 2nd SYNC, Object 281 (TPDO 2) appears at every 3rd SYNC.
Emergency-Object If, for instance, the resolver connector is disconnected, a serious error will be caused in the controller. This results in an Emergency telegram. COB-ID 081 081
124
Emergency error Low High 10 43 00 00
Error register 08 88
00 00 00 00 00 00 00 00
motor temperature, temperature, manufacturer specific
CANopen for S300/S700
Kollmorgen 5.3.12
05/2012
Appendix
Application: Electric Gearing When using the electric gearing mode via the CANopen interface, the following parameters are relevant for setting the slave of the electric gearing: GEARI Object 2040 sub 1 GEARO Object 2040 sub 2 GEARMODE Object 353F sub 1 EXTPOS Object 3539 sub 1 IN20MODE Object 3723 sub 1 IN20TRIG Object 3724 sub 1 or Object 20B0 sub 0 (also mappable) ACCR Object 3502 sub 1 DECR Object 3524 sub 1 ACCR and DECR can also be set together via object 609A (also mappable). The transmission of the electric gearing is set using gear factors GEARI and GEARO. The input of the master impulse is defined using the parameters GEARMODE and EXTPOS. The following bits have special meaning in the electrical gearing operating mode: CANopen status word Bit 10 = 1: Slave axis is synchronised CANopen control word Bit 13 = 1: Stop synchronised movement of the slave axis The virtual input 20 can be used to change the type of synchronisation/de-synchronisation with the master for the following input functions (IN20MODE): IN20MODE 42:
Slave axis synchronisation is enabled using the ramp ACCR and disabled using DECR.
IN20MODE 43:
When the slave axis is started, the master position is latched. The slave axis is then brought up to master speed via the ramp ACCR and the travel distance to the master is subsequently adjusted. Synchronisation is deactivated via DECR. Using IN20TRIG, a position offset to the master position can also be assigned.
IN20MODE 51:
IN20TRIG can be used to specify a travel distance to which the slave should be synchronised. Synchronisation is deactivated via DECR.
CANopen for S300/S700
125
Appendix 5.3.13
Kollmorgen
05/2012
Application: External Trajectory with Interpolated Position Mode This example shows the possible application for giving two axes position setpoints within one PDO. Controller structure for the position controller within the servo amplifier:
SYNC Position setpoints
Position controller
speed setpoint
RPDO with IP setpoints Position + Status TPDO with actual position in increments and manufacturer status Description All data are hexadecimal. In the example, the two axes in the system have the station addresses 1 and 2. Prerequisits — The internal syncronisation must be used for the IP-mode. For that purpose the parameter SYNCSRC (Object 3683 sub 1) must be set to 3. — The parameters must be saved to EEProm. — A coldstart has to be done to enable the syncronisation possibility. — The axes are homed (for this example). The common PDO contains 2 IP (interolpated position) – setpoints and can be transmitted simultaneously to two stations, whereby each station can extract the relevant data. The other data can be made ignored by using dummy entries (Object 2100 sub 0). For this purpose both axes have to react on the same RPDO-COB-ID.
126
CANopen for S300/S700
Kollmorgen
Appendix
05/2012
Action Do the RPDO2-mapping for both axis: Axis 1: COB-ID 601 581 601 581 601 581 601 581
Control byte 2F 60 23 60 23 60 2F 60
Index Low byte High byte 01 16 01 16 01 16 01 16 01 16 01 16 01 16 01 16
Subindex 00h 00h 01h 01h 02h 02h 00h 00h
Control byte 2F 60 23 60 23 60 2F 60 23 60
Index Low byte High byte 01 16 01 16 01 16 01 16 01 16 01 16 01 16 01 16 01 14 01 14
Subindex 00h 00h 01h 01h 02h 02h 00h 00h 01h 01h
Data 00 00 00 00 00 00 00 00 20 01 C1 60 00 00 00 00 20 00 00 21 00 00 00 00 02 00 00 00 00 00 00 00
Comment RPDO2: delete mapping RPDO2, entry 1: IP setpoint axis 1 RPDO2, entry 2: Dummy entry 4 bytes RPDO2, enter number of mapped objects
Axis 2: COB-ID 602 582 602 582 602 582 602 582 602 582
Data 00 00 00 00 00 00 00 00 20 00 00 21 00 00 00 00 20 01 C1 60 00 00 00 00 02 00 00 00 00 00 00 00 01 03 00 00 00 00 00 00
Comment RPDO2: delete mapping RPDO2, entry 1: Dummy entry 4 bytes RPDO2, entry 2: IP setpoint axis 2 RPDO2, enter number of mapped objects RPDO2: Set COB-ID identical to axis 1
Now both axis react to the same COB-identifier 0x301, axis 1 takes byte 0 to 3 as IP setpoint, axis 2 takes byte 4 to 7. The second TPDOs shall contain the actual position in increments and the manufacturer status. Mapping configuration for axis 1: Index Low byte High byte 01 1A 01 1A 01 1A
601 581 601
Control byte 2F 60 23
581
60
01
1A
01h
00 00 00 00
601 581 601 581
23 60 2F 60
01 01 01 01
1A 1A 1A 1A
02h 02h 00h 00h
20 00 02 10 00 00 00 00 02 00 00 00 00 00 00 00
COB-ID
Subindex 00h 00h 01h
00 00 00 00 00 00 00 00 20 00 63 60
Data
Comment TPDO2: delete mapping TPDO2, entry 1: actual position in increments TPDO2, entry 2: Dummy entry 4 bytes TPDO2, enter number of mapped objects
The same has to be done for axis 2.
CANopen for S300/S700
127
Appendix
Kollmorgen
05/2012
Here it is assumed that both drives accept new trajectory values with every SYNC command, and have to return their incremen tal position and manufacturer status values. The communication parameters must be set accordingly. Axis 1: COB-ID 601 581 602 582 601 581 602 582
Control byte 2F 60 2F 60 2F 60 2F 60
Index Low byte High byte 01 14 01 14 01 14 01 14 01 18 01 18 01 18 01 18
Subindex 02h 02h 02h 02h 02h 02h 02h 02h
Data 01 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00 01 00 00 00 00 00 00 00
Comment RPDO2 axis 1, reaction on every sync RPDO2 axis 2, reaction on every sync TPDO2 axis 1, reaction on every sync TPDO2 axis 2, reaction on every sync
The other Tx-PDOs 3 and 4 should be switched off to minimize bus-load: COB-ID 601 581 601 581
Control byte 23 60 23 60
Index Low byte High byte 02 18 02 18 03 18 03 18
Subindex 01h 01h 01h 01h
Data
Comment
81 03 00 C0 Switch off TPDO3 00 00 00 00 81 04 00 C0 Switch off TPDO4 00 00 00 00
The same has to be done for axis 2. In order to be able to make trajectory movements, both servo amplifiers must be operating in the appropriate mode. This is set through Index 6060h: COB-ID 601 581 602 582
Control byte 2F 60 2F 60
Index Low byte High byte 60 60 60 60 60 60 60 60
Subindex 00h 00h 00h 00h
Data
Comment
07 00 00 00 Set IP mode for axis 1 00 00 00 00 07 00 00 00 Set IP mode for axis 2 00 00 00 00
The cycle interval for the IP-mode shall be 1 ms. This has to be defined with Object 60C1 sub 1 and 2:
601 581 601
Control byte 2F 60 2F
581
60
COB-ID
Index Low byte High byte C2 60 C2 60 C2 60 C2
60
Subindex 01h 01h 02h 02h
Data
Comment
01 00 00 00 Interpolation time unit 1 00 00 00 00 FD 00 00 00 Interpolation time index -3 -> 00 00 00 00 Cycle time = 1 * 10 -3 s
The same has to be done for axis 2.
128
CANopen for S300/S700
Kollmorgen
Appendix
05/2012
To start up the axes, the servo amplifiers must be put into the operational status (operation enable) and the network management functions must be started. The network management functions enable the application of the Process Data Objects (PDOs) and are initia lized by the following telegram for both axes: Switch the NMT (Network Management) status machine to operation enable: COB-ID 0
Command specifier (CS) 1
Node-ID 1
Comment NMT enable for all axes
Next, power is applied to each servo amplifier, and they are put into the operation enable condition. This should be done in steps with waiting for the appropriate reaction of the drive (e.g. axis 1): COB-ID 201 181 201 181 201 181 201
Data
Comment
06 00 31 02 07 00 33 02 0F 00 37 02 1F 00
Shutdown command State Ready_to_switch_on Switch_on command State Switched_on Enable_operation command State Operation_enabled Enable IP-mode
181
37 12
IP-mode enable
The configuration above now enables a cyclical sequence, as shown in the diagram:
400 µs Control
Sync
Sync
Axis 2
Drive
Position & Status
Position & Status Axis 1
Setpoint Axis 1/2
Drive
Control t cycle e.g. 2 axes t
cycle
CANopen for S300/S700
1 ms per axis at 1 MBaud
129
Appendix
Kollmorgen
05/2012
RPDO 2 can now be used to supply trajectory data for both axes, e.g.: COB-ID 301
Byte 0 F4
Byte 1 01
Byte 2 00
Byte 3 00
Byte 4 E8
Byte 5 03
Byte 6 00
Byte 7 00
In this example, the first axis receives a trajectory value of 500 increments (Bytes 0 ... 3) and the second axis receives a trajectory value of 1000 increments. The axes accept these values, and the positioning is made when the next SYNC telegram is received.
SYNC telegram COB-ID 080
Afterwards, both axes send back their incremental positions and the contents of their status registers when the SYNC Object with the COB-ID for the 2nd TPDO is received: COB-ID
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
181
23
01
00
00
00
00
03
182
A5
02
00
00
00
00
03
Byte 7 Comment position + manufacturer 44 status register for axis1 position + manufacturer 44 status register for axis2
If an error occurs during operation, the axis concerned transmits an Emergency message, which could appear like this:
Emergency Object COB-ID 081 081
130
Emergency error Low High 10 43 00 00
Error register 08 08
Category 01 00
00 00 00 00 00 00 00 00
motor temperature, temperature, manufacturer-specific
CANopen for S300/S700
Kollmorgen 5.4
05/2012
Appendix
Index !
1000h . . . . . . . . . . . . . . . . . . 26 1001h . . . . . . . . . . . . . . . . . . 26 1002h . . . . . . . . . . . . . . . . . . 27 1003h . . . . . . . . . . . . . . . . . . 28 1005h . . . . . . . . . . . . . . . . . . 29 1006h . . . . . . . . . . . . . . . . . . 29 1008h . . . . . . . . . . . . . . . . . . 29 1009h . . . . . . . . . . . . . . . . . . 30 100Ah . . . . . . . . . . . . . . . . . . 30 100Ch . . . . . . . . . . . . . . . . . . 30 100Dh . . . . . . . . . . . . . . . . . . 31 1010h . . . . . . . . . . . . . . . . . . 31 1011h . . . . . . . . . . . . . . . . . . 32 1014h . . . . . . . . . . . . . . . . . . 32 1016h . . . . . . . . . . . . . . . . . . 33 1017h . . . . . . . . . . . . . . . . . . 33 1018h . . . . . . . . . . . . . . . . . . 34 1026h . . . . . . . . . . . . . . . . . . 35 1400-1403h . . . . . . . . . . . . . . . 50 1600-1603h . . . . . . . . . . . . . . . 51 1800-1803h . . . . . . . . . . . . . . . 52 1A00-1A03h . . . . . . . . . . . . . . . 53 2000h . . . . . . . . . . . . . . . . . . 36 2014-2017h . . . . . . . . . . . . . . . 37 2030h . . . . . . . . . . . . . . . . . . 37 2040h . . . . . . . . . . . . . . . . . . 38 2041h . . . . . . . . . . . . . . . . . . 39 2051h . . . . . . . . . . . . . . . . . . 40 2052h . . . . . . . . . . . . . . . . . . 41 2053h . . . . . . . . . . . . . . . . . . 41 2061h . . . . . . . . . . . . . . . . . . 42 2080h . . . . . . . . . . . . . . . . . . 42 2081h . . . . . . . . . . . . . . . . . . 42 2082h . . . . . . . . . . . . . . . . . . 43 2083h . . . . . . . . . . . . . . . . . . 43 2090h . . . . . . . . . . . . . . . . . . 43 20A0h . . . . . . . . . . . . . . . . . . 44 20A1h . . . . . . . . . . . . . . . . . . 44 20A2h . . . . . . . . . . . . . . . . . . 44 20A3h . . . . . . . . . . . . . . . . . . 45 20A4h . . . . . . . . . . . . . . . . . . 45 20B0h . . . . . . . . . . . . . . . . . . 46 20B1h . . . . . . . . . . . . . . . . . . 46 20B2h . . . . . . . . . . . . . . . . . . 47 2100h . . . . . . . . . . . . . . . . . . 48 2101h . . . . . . . . . . . . . . . . . . 48 2400h . . . . . . . . . . . . . . . . . . 105 2401h . . . . . . . . . . . . . . . . . . 105 2402h . . . . . . . . . . . . . . . . . . 106 2403h . . . . . . . . . . . . . . . . . . 107 2404h . . . . . . . . . . . . . . . . . . 108 2405h . . . . . . . . . . . . . . . . . . 108 2406h . . . . . . . . . . . . . . . . . . 109 2407h . . . . . . . . . . . . . . . . . . 109
CANopen for S300/S700
2408h . . . . . . . . . . . . . . . . . . 110 2409h . . . . . . . . . . . . . . . . . . 110 240Ah . . . . . . . . . . . . . . . . . . 111 240Bh . . . . . . . . . . . . . . . . . . 111 240Ch. . . . . . . . . . . . . . . . . . 112 3500h... . . . . . . . . . . . . . . . . . 91 6040h . . . . . . . . . . . . . . . . . . 57 6041h . . . . . . . . . . . . . . . . . . 59 6060h . . . . . . . . . . . . . . . . . . 60 6061h . . . . . . . . . . . . . . . . . . 61 6063h . . . . . . . . . . . . . . . . . . 73 6064h . . . . . . . . . . . . . . . . . . 74 6065h . . . . . . . . . . . . . . . . . . 74 6067h . . . . . . . . . . . . . . . . . . 74 6068h . . . . . . . . . . . . . . . . . . 75 606Ch . . . . . . . . . . . . . . . . . . 71 6071h . . . . . . . . . . . . . . . . . . 72 6073h . . . . . . . . . . . . . . . . . . 72 6077h . . . . . . . . . . . . . . . . . . 72 607Ah . . . . . . . . . . . . . . . . . . 84 607Ch . . . . . . . . . . . . . . . . . . 80 607Dh . . . . . . . . . . . . . . . . . . 84 607Fh . . . . . . . . . . . . . . . . . . 85 6080h . . . . . . . . . . . . . . . . . . 85 6081h . . . . . . . . . . . . . . . . . . 85 6083h . . . . . . . . . . . . . . . . . . 86 6084h . . . . . . . . . . . . . . . . . . 86 6085h . . . . . . . . . . . . . . . . . . 86 6086h . . . . . . . . . . . . . . . . . . 87 6089h . . . . . . . . . . . . . . . . . . 62 608Ah . . . . . . . . . . . . . . . . . . 62 608Bh . . . . . . . . . . . . . . . . . . 68 608Ch . . . . . . . . . . . . . . . . . . 68 608Dh . . . . . . . . . . . . . . . . . . 69 608Eh . . . . . . . . . . . . . . . . . . 69 608Fh . . . . . . . . . . . . . . . . . . 63 6091h . . . . . . . . . . . . . . . . . . 64 6092h . . . . . . . . . . . . . . . . . . 65 6093h . . . . . . . . . . . . . . . . . . 66 6094h . . . . . . . . . . . . . . . . . . 67 6097h . . . . . . . . . . . . . . . . . . 70 6098h . . . . . . . . . . . . . . . . . . 81 6099h . . . . . . . . . . . . . . . . . . 82 609Ah . . . . . . . . . . . . . . . . . . 82 60C0h . . . . . . . . . . . . . . . . . . 76 60C1h . . . . . . . . . . . . . . . . . . 77 60C2h . . . . . . . . . . . . . . . . . . 78 60C3h . . . . . . . . . . . . . . . . . . 78 60C4h . . . . . . . . . . . . . . . . . . 79 60C5h . . . . . . . . . . . . . . . . . . 87 60F4h . . . . . . . . . . . . . . . . . . 75 60FDh . . . . . . . . . . . . . . . . . . 48 60FFh . . . . . . . . . . . . . . . . . . 71 6502h . . . . . . . . . . . . . . . . . . 49
131
Appendix
132
Kollmorgen
05/2012
A
Abbreviations . . . . . . . . . . . . . . 8 Acknowledge lag/contouring error . . . 58 Acknowledge response monitoring . . . 58 Additional documentation . . . . . . . . 7
B
Basic data types . . . . . . . . . . . . 15 Basic features . . . . . . . . . . . . . . 9
C
COB-ID . . . . . . . . . . . . . . . . . 14 Communication faults . . . . . . . . . . 9 Communication Objects . . . . . . . . 16 Communication profile . . . . . . . . . 13 Configuration parameter . . . . . . . . 12 Control word . . . . . . . . . . . . . . 57
D
Data Frame . . . . . . . . . . . . . . . 13 Data transfer functions . . . . . . . . . . 9 Data types . . . . . . . . . . . . . . . 14 Device control . . . . . . . . . . . . . 55 Drive profile . . . . . . . . . . . . . . . 25
E
Emergency Message . . . . . . . . . . 25 Emergency Object . . . . . . . . . . . 17 Examples . . . . . . . . . . . . . . . 113 Examples, special applications . . . . 126 Extended data types . . . . . . . . . . 16
F
Factor Groups . . . . . . . . . . . . . 61
G
General definitions . . . . . . . . . . . 26
H
Homing Mode. . . . . . . . . . . . . . 80
I
Installation . . . . . . . . . . . . . . . 10 Interpolated position mode . . . . . . . 76
M
Mapping . . . . . . . . . . . . . . . . 49 Mixed data types . . . . . . . . . . . . 15
N
Network Management Object. . . . . . 17 Nodeguard . . . . . . . . . . . . . . . 23
O
Object Channel . . . . . . . . . . . . . 91 Object Dictionary . . . . . . . . . . . . 99 Operating mode . . . . . . . . . . . . 60
P
PDO configuration . . . . . . . . . . . 49 Position Control Function . . . . . . . . 73 Positioning functions . . . . . . . . . . . 9 Process Data Object . . . . . . . . . . 21 Profile Position Mode . . . . . . . . . . 83 Profile torque mode. . . . . . . . . . . 72 Profile Velocity Mode . . . . . . . . . . 71
R
Receive PDOs . . . . . . . . . . . . . 50 Remote Frame . . . . . . . . . . . . . 13 Response monitoring . . . . . . . . . . 30
S
SDO abort codes . . . . . . . . . . . . 21 Service Data Object . . . . . . . . . . 19 Setup . . . . . . . . . . . . . . . . . . 12 Setup functions . . . . . . . . . . . . . 9 Status machine . . . . . . . . . . . . . 55 Status word . . . . . . . . . . . . . . . 59 Synchronization Object . . . . . . . . . 17
T
Target group . . . . . . . . . . . . . . . 7 Time Stamp Object . . . . . . . . . . . 17 Transmission modes . . . . . . . . . . 22 Transmission procedure . . . . . . . . . 9 Transmission rate . . . . . . . . . . . . 9 Transmit PDOs . . . . . . . . . . . . . 52 Trigger modes . . . . . . . . . . . . . 22
U
Use as directed . . . . . . . . . . . . . 8
CANopen for S300/S700
Kollmorgen
05/2012
Appendix
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CANopen for S300/S700
133
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